This operation teaching apparatus, which is used for teaching operations when performing movement and/or rotating operations of an object (2h) to align same with a previously determined position and orientation, is characterized in being provided with: a TOF range-imaging camera (40) for obtaining three-dimensional configuration information about the object; an extraction means for extracting a feature region from the three-dimensional configuration information acquired with the TOF range-imaging camera (40) using a luminance image of the object obtained from received light intensity information, which is incident light reflected from the object and received by a light-receiving means; and a generating means for generating information for operation teaching by calculating the deviation between three-dimensional configuration information comprising the feature region of the object in a previously determined position and orientation and three-dimensional configuration information comprising the feature region of the object in the current position and orientation.
OPERATION TEACHING APPARATUS AND TRANSCRANIAL MAGNETIC STIMULATION APPARATUS