Abstract
Medical doctor must understand the structure of the human body for safe surgery. The aim of this is development of micro anatomy training system. In this system, two haptic devices for left and right hands are used to operate virtual autopsy devices. Existing haptic device has a problem that it collides with each other in a small operation space. Redundant degrees of freedom is adopted for the haptic device as a solution. In order to provide the operator comfortable operation, multi-CPU control system was constructed. Control software including inverse Jacobian matrix, the haptic device was operated freely and to present stiff objects. The performance of the haptic device was confirmed by the experiment.
