In tele-operation applications, especially in surgery, haptic devices need to exhibit a high degree of rigidity and accuracy. This paper deals with the development of a spherical parallel manipulator (SPM) that enables the satisfaction of those characteristics. The parallel architecture enables the use of this kind of robot as master in a tele-operation system. Moreover, the SPM has a center of rotation that makes it a natural candidate and more adapted to minimally invasive surgery application. However, the parallel manipulator presents a poor behavior in singular configuration. In this paper we discuss the technique we used to overcome the singularity effects. We also present the methodology of using additional sensor to avoid kinematic structure problem without design changes. The investigation of the developed solution is detailed in this paper. Also, the experimental results of the newly developed haptic device are presented in this paper.