The only thing more amazing than the lives they save are their own life stories. "20/20" Anchor Elizabeth Vargas sits down with doctors who have disabilities, are inspired by tragedy and practice improvised medicine, as they share their inspiring stories of resilience and survival. The special also goes behind-the-scenes on the set of "The Good Doctor" and interviews actor Freddie Highmore who stars in the show as Dr. Shaun Murphy, a surgical resident with autism and savant syndrome. Highmore discusses how he prepared for playing the role of a doctor with autism and how the public has responded to his role.