A medical tool insertion simulation apparatus. The medical tool insertion simulation apparatus may comprise a syringe having an injection end, and an elongated member protruding from the injection end of the syringe. The elongated member may be configured to decrease a length of protrusion of the elongated member from the injection end of the syringe. The elongated member may be configured to receive at least one first sensor configured to indicate position information relating to the elongated member. At least one computer-readable storage medium encoded with executable instructions that, when executed by at least one processor, cause the at least one processor to perform a method for simulating medical tool insertion. A medical tool insertion simulation system.