1. A surgical training system comprising: means for recording reference data representing a reference manipulation of a computer generated model of an object by a master user; a robotic device for moving along a recorded trajectory based on the recorded reference data to physically guide a trainee user during an assisted training manipulation of the model of the object by the trainee user; means for recording assessment data representing an assessment manipulation of the model of the object by the trainee user without guidance; and means for evaluating the assessment data based on the reference data.