This paper gives a method to achieve haptic reproduction and real-time visualization of a beating heart for cardiac surgery simulation. The authors focus on time series dataset and produce a new framework for interactive feedback of active tissues. The framework provides both detection and response of collisions between a manipulator and a virtual heart. Physically based haptic feedback of cardiac motion is also simulated using a stress-pressure model, which is adapted to elastic objects filled with fluid. Time series datasets of a normal volunteer were applied to a simulation system with a force feedback device using real-time volume rendering. Finally, results of visual and haptic feedback and medical assessment show the achieved quality and performance of the developed system.