Surgical robotics and automation have witnessed great burgeoning and interest in healthcare. The da Vinci Surgical System is a leading platform for this field but has hardware and financial constraints. This study proposes a methodology for surgical automation based on dvrk-ros software stack using MoveIt! Motion Planning framework and irob-saf metapackage for accurate autonomous manipulation of the dVRK manipulators. The da Vinci Research Kit (dVRK) is an open-source simulation framework, but we need a platform which is readily available and easy to use for research and development of procedures specialized in surgical subtask automation. Further, this chapter proposes a framework to simulate the autonomous execution of subtasks on Gazebo. The obtained results show the easy-to-use and readily accessible system which will be helpful for surgical subtask automation. Further this work can be extended for specialized surgical automation.