Virtual reality (VR) surgical systems with haptic feedback are described herein that can be used to simulate several instruments and surgeries. The instruments can include a tool assembly; first and second brackets each having first shafts that are rotatably coupled at first and second end regions of the tool assembly and second shafts that are rotatably coupled to first and second robotic arms; a surgical tool assembly coupled to an end portion of the tool assembly and having an elongated member that extends within the tool assembly; an elongated member position sensor assembly configured to provide position information of a position of the elongated member to a computing unit; and an elongated member force feedback assembly housed within the cavity and coupled to the elongated member. The elongated member force feedback assembly is configured to provide haptic feedback to the user of the instrument.