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Robots have long been used in the operation theaters primarily for a wide variety of applications ranging from neurosurgery to laparoscopic surgery. This demands a regulated force control between the manipulator and the tissues in which the robot interacts. Although the da Vinci Surgical Robot has risen as a pioneering tool in the field of minimally invasive surgery, the platform lacks a controller that governs the interaction of the robot’s end effector with its surrounding environment in a compliant manner. This work presents the dynamics modeling and design of an impedance controller for the Master Tool Manipulator of the da Vinci robot in a simulated environment. Index Terms—Impedance control, da Vinci Research Kit, AMBF simulator