The generation of different types of surface acoustic waves (SAWs) in lithotripsy is investigated by numerical simulations using COMSOL, considering either the case of a weakly focused shock wave as an incident plane wave (in the focal plane) in shock wave lithotripsy (SWL) or a spherically divergent shock wave produced by a spark discharge in Nano Pulse Lithotripsy (NPL). The interaction of these two types of shock waves with an artificial kidney stone immersed in water may generate three different types of SAWs: namely, Scholte wave, acoustic surface evanescent wave (ASEW), and leaky Rayleigh wave (LRW). In particular, we examined the generation of SAWs on a flat, cylindrical, or spherical surface under different incident angles. It was found that the geometry and acoustic properties of the stone could significantly influence the types of SAWs generated and the resultant peak tensile stress produced at the stone-water boundary. Comparison with experimental measurements (i.e., Schlieren and photoelastic imaging) and stone fracture will also be made. [Work supported by NIH through 5R37DK052985-20.]