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In recent years, the robot for minimally invasive surgery has been expanded for wide application in clinic. However, robot assisted surgery is quite different from traditional surgery, so the training and practice are very important to the surgeon. The development of a panoramic simulation for robot assisted endoscopic surgery is described in the paper. The simulation is appropriate for da Vinci and other similar system. In this simulation, the robot model is accurately presented, and its kinematic analysis is precise. The soft tissue model used in the simulation is an improved mass-spring model. This model is suited for real-time and visual deformation. A commercial haptic device known as Omega is used in this simulation, we can easily obtain haptics by it. As a result, the user can switch between panoramic display and local scene by zoom, and can easily manipulate the virtual surgical robot to perform many surgical operations such as grasping and pushing, at the same time, the user can feel the force feedback.