Bachelor Thesis from the year 2015 in the subject Computer Science - Applied, grade: 1.2, RWTH Aachen University, language: English, abstract: This thesis focuses on virtual solid body manipulation with haptic feedback at real-time frame rates, such as teeth drilling and bone sawing. Medical operations and surgical interventions require an enormous amount of skill and experience. The traditional ways for medical students to obtain their surgical skills are either practicing on cadavers, animals or patients directly. However, all of these training methods bear several disadvantages. With ongoing developments in the area of virtual reality (VR), virtual surgery simulators turned out to be a safe and repeatable alternative to the traditional training methods. A medical simulator provides a virtual training environment in which the trainee is able to interact with virtual objects and obtain physically plausible force feedback via a haptic feedback device connected to the simulator.