The haptic-based virtual reality simulation which can create a visual and tactile fusion in virtual environment for operators is an important application in surgical training. The catheter’s deformation and force feedback are key techniques in the catheter interventional simulator. The simulation of catheter interventional surgery is developed with the aid of some open–source software, such as OpenGL and CHAI3D, and the force feedback instrument Omega.6 (Force Dimension, Switzerland). CHAI3D is a platform framework for visualization, computer haptic and interactive real-time simulation. To realize the deformation and the haptic effect in virtual system, the skeleton ball-spring model based on classic mass-spring model (MSM) is applied to the catheter 3d model, and the improved GEL dynamics engine is proposed. According to the skeleton ball-spring model, a set of 6-DOF balls are arranged within the 3d model. By defining the parameters of those balls and springs, such as mass, radius, elasticity, damping and external force, the real characteristic of the catheter can be simulated vividly. The improved model is more accurate than MSM but still computationally efficient. The simulator provides an effective surgical training method to help operators practice the catheter interventional surgery and get more skillful in a safe and easy way rather than traditional surgeries. Meanwhile, the deformable and collision-detective catheter model in the simulator provide operators with a more realistic feeling in surgical trainings. The methods can also be applied to other surgical fields.