Abstract: This paper analyses the importance of introducing virtual reality into medical robotic system. Combining the medical robot developed by our own laboratory, this paper proposes a virtual surgery simulation system of teleoperation bone setting robot, which is based on Java3D, vision feedback and force feedback. The architecture, working principle, hardware and software platform of the system is presented. The paper also analyses the working flows of both virtual system and realistic system, and describes the function of each crucial part.