The use of surgical simulators with virtual reality allows surgeons to practice diverse types of procedures for minimizing any risk on patients during the real surgery. This paper describes a prototype for a Minimal Invasive Surgery (MIS) simulator with haptic feedback applied to an endoscopic endonasal surgery. The research is divided in three parts: the simulation of a rigid endoscope device with four degrees of freedom (pitch, yaw, roll and dolly), a simplified model of the nasal tissue for fast haptic rendering and the integration with a virtual reality simulation system with collision detection. The main contribution of the paper is the rigid endoscope model using a simple lever acting as a force transformer pivoting in the nostril. The obtained results show a suitable response of the system for an interactive simulation.