Our research team has developed a complete simulator for tele-robotic surgery safety and motor skills training. This provides trainees with a comprehensive simulator to acquire essential skills to perform tele-robotic surgery while being prepared to overcome unexpected events. The simulator is built on the Raven-IITM open source surgical robot platform. It integrates a physics engine and a safety hazard injection engine, which automatically inserts faults into modules of the robot control software to reproduce some of the adverse events that occur during surgery. The simulator reproduces safety hazard events related to the da Vinci Surgical System, reported to the Food and Drug Administration (FDA) Manufacturer and User Facility Device Experience (MAUDE) database. In addition, a novel real time haptic feedback system based on a rendering of the RGB-D sensor has been developed along with new methodologies to provide stable bi-lateral control during tele-surgery. This research was funded through grants from the National Science Foundation and Jump ARCHES.