In this study, configuration and modeling of haptic mater device for minimally invasive surgery (MIS) featuring magneto-rheological (MR) fluid are proposed. This haptic device consists of two friction-free magneto-rheological (FFMR) brakes incorporated with a gimbal mechanism for realizing a 2-DOF rotational motion. The total torque induced from the FFMR brakes of the haptic device is computed based on Bingham model. In order to enhance the performance of the device, an optimal design for its brakes is undertaken. A prototype for the design is then manufactured and an experiment is undertaken to validate the result of the optimal design process.