The Surgical Robot Transformer is a model that executes surgical operation tasks on the Da Vinci robot using imitation learning. This model overcomes the inaccuracies in forward kinematics of the Da Vinci system through relative motion formulas, enabling the successful training and deployment of policies. One significant advantage of this approach is the ability to leverage a large amount of clinical data containing approximate kinematics for robot learning without additional calibration. The model has demonstrated success in executing three fundamental surgical tasks, including tissue manipulation, needle handling, and suturing.