This project aims to develop models, algorithms, and testbeds for robust intelligent manipulation that will enable supervisory control for intelligent robotic surgical assistants (RSAs). The goal of this research is to make surgical robotic systems act more like an assistant and less like a slave, such that the surgeon will have a high-level automated interaction with the robot rather than just controlling it through direct, low-level teleoperation. Specifically, our research has been focusing developing a robot that can sense and plan through the use of motion control algorithms, which will allow it to autonomously perform surgical suturing and retraction tasks. These robots, created under the guidance of Dr. M. Cenk Cavusoglu at the MeRCIS Lab, could save medical professionals countless hours, allowing surgeons to perform more surgeries in a given time frame. See the robotic assistant in action: