For the last several years, virtual environments have provided significant advances in the field of medicine, specifically in the simulation of interventions and surgical procedures. This paper presents the results of the design and development of a training system that allows the user to interact with soft and hard tissues in a virtual reality environment. Due to its features of navigation and haptic handling, the Quanser HD2 device was used as a user interaction element for the simulated arthroscopic surgery, facilitating the training of surgeons in this kind of procedures. To evaluate the system, the learning curve was determined with a group of people with no experience in handling the device, by obtaining their response times and decrease in error in the tests applied