 This study compared the performance of novice and expert surgeons when trained on three different types of simulators, before performing a suturing or PEG transfer procedure using a surgical robot. The results show that there was no significant difference in performance between the novices and experts when they used the same type of simulator. However, when the novices and experts used different types of simulators, the experts outperformed the novices in both tasks. Additionally, the gear score was higher for the experts than the novices in both tasks. These findings suggest that training with a simulator of varying fidelity can lead to similar performance using a surgical robot. This article was authored by Shin Saito, Kazuhiro Endo, Yasunaro Sakuma, and others.