This research assistant work aims the development and evaluation of a training simulator for the insertion of a needle into soft tissue of the human body; by implementing a system that integrates haptic devices and a software prototype. The project can be divided into three main parts: The first is modeling the behavior of soft tissues using finite element methods, the second is the development of prototype software, and third are the performance testing and evaluation final system. Hyperelastic and linear models for tissues showed high reliability compared to the results obtained in other studies were obtained.