Thank you for the comments!
The initial effort focuses on replicating the fundamental training tasks for laparoscopic surgery (FLS) that require no interaction with deformable objects etc.
However, we have integrated soft-bodies into the simulation, and it works pretty well with simple geometries. In the presented paper, one of the three training tasks includes clipping and cutting of a virtual (deformable) vain.
Real-time is however an issue, and our implementation of BulletPhysics softbodies needs a lot of improvement in order to achieve realistic interactions with more complex geometries.