The introduction of robotic technology in minimally-invasive surgery created a need to develop more efficient and effective training and assessment tools. Virtual reality simulators were introduced to the field to address this need. Currently, there are four da Vinci simulators - the dVSS, dV-Trainer, RoSS, and the RobotiX Mentor. These simulators offer basic training for novice robotic surgeons, familiarizing them with the skills needed to perform safe surgery. While there is literature available for each simulator individually, it can be difficult for a user to select the appropriate system to meet their training needs. Thus, this paper presents the results of a comparative analysis of the system components of each device (e.g., exercises, scoring metrics, physical dimensions, and student management). Previous research has directly compared three of the four simulators, however this is the first study to compare all four. To collect the information, the team reviewed the device manuals for details on each system, contacted device company representatives, and explored the system capabilities firsthand. While all systems offer basic skill training in highly immersive 3D environments, each device offers unique advantages and capabilities for training robotic surgeons. The dVSS creates a high-fidelity training environment by leveraging the real robotic surgeon’s console for visualization and control inputs. The dV-Trainer, RoSS, and RobotiX Mentor offer simulated versions of these systems. Each includes system management services for instructors to collect, export, and analyze trainee scores. All systems have been the subject of multiple published validation studies, however these reports do not provide essential details on the nuances of each simulator. The analysis in this paper can be used to aid potential users, buyers, and trainers in identifying the features, which are more essential to their training centers.