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Bone drilling procedures require a high surgeon skill. The required core skills are: recognizing the drilling end-point, ability of applying constant, sufficient, but non-excessive feeding velocity and thrust force. Although several simulators and training systems were developed for different surgery, a bone drilling medical training system does not exist yet. In this paper, a bone drilling medical training system is proposed and a novel control algorithm for the problem is presented. A graphical user interface is developed to complete a medical training system structure. Experimental results for controller performance are satisfactory. Additional experiments are performed to check if the developed system improves the skill of trainees or not. Early results suggest that training in the developed medical training system is a promising way to teach drilling into a bone to medical students.