Abstract
Recently, various haptic devices are developed and studied. Though there are many force sense and tactile sense, we focused on the inserting sense in this study. The inserting sense is obtained when inserting trocar. It is the first step in endoscopic surgery that is minimally invasive surgery. But trocar insertion needs advanced skill, especially, how to add appropriate pushing force and the rotation is very important. So, to train the insertion of trocar, we develop a haptic device which can present the inserting sensation with reaction force when insert trocar.
