A robotic surgical system, comprising: a patient side cart comprising: a first robotic arm assembly coupleable to a tool, and a a second robotic arm assembly coupleable to an image capture device, the image capture device having a field of view that is positionable to capture an image of an end effector of the tool when the tool is coupled to the first robotic arm assembly and the image capture device is coupled to the second robotic arm assembly; modeling data for providing a synthetic representation of: at least a portion of the first robotic arm assembly, at least a portion of the second robotic arm assembly, the tool, and the image capture device; a display (32, 84); and a first component (108, 90, 92) coupled to: the modeling data, encoders in the first and second robotic arm assemblies (46, 42), and the display (32, 84), wherein the first component (108, 90, 92) is configured to: generate the synthetic representation so that actual movements of the first robotic arm assembly, the second robotic arm assembly, the tool, and the image capture device are mimicked in the synthetic image, when the tool is coupled to the first robotic arm assembly and the image capture device is coupled to the second robotic arm assembly, while a medical procedure is being performed on a patient, generate a three-dimensional representation of a projection of boundaries of the field of view of the image capture device when the image capture device is coupled to the second robotic arm assembly, so that the three-dimensional representation is properly positioned relative to a viewing end of the image capture device in the synthetic image while the medical procedure is being performed on the patient, and cause the synthetic representation and the three-dimensional representation of the projection of boundaries of the field of view of the image capture device to be displayed on the display (32, 84) while the medical procedure is being performed on the patient. a patient side cart comprising: a first robotic arm assembly coupleable to a tool, and a a second robotic arm assembly coupleable to an image capture device, the image capture device having a field of view that is positionable to capture an image of an end effector of the tool when the tool is coupled to the first robotic arm assembly and the image capture device is coupled to the second robotic arm assembly; modeling data for providing a synthetic representation of: at least a portion of the first robotic arm assembly, at least a portion of the second robotic arm assembly, the tool, and the image capture device; a display (32, 84); and a first component (108, 90, 92) coupled to: the modeling data, encoders in the first and second robotic arm assemblies (46, 42), and the display (32, 84), wherein the first component (108, 90, 92) is configured to: generate the synthetic representation so that actual movements of the first robotic arm assembly, the second robotic arm assembly, the tool, and the image capture device are mimicked in the synthetic image, when the tool is coupled to the first robotic arm assembly and the image capture device is coupled to the second robotic arm assembly, while a medical procedure is being performed on a patient, generate a three-dimensional representation of a projection of boundaries of the field of view of the image capture device when the image capture device is coupled to the second robotic arm assembly, so that the three-dimensional representation is properly positioned relative to a viewing end of the image capture device in the synthetic image while the medical procedure is being performed on the patient, and cause the synthetic representation and the three-dimensional representation of the projection of boundaries of the field of view of the image capture device to be displayed on the display (32, 84) while the medical procedure is being performed on the patient. generate the synthetic representation so that actual movements of the first robotic arm assembly, the second robotic arm assembly, the tool, and the image capture device are mimicked in the synthetic image, when the tool is coupled to the first robotic arm assembly and the image capture device is coupled to the second robotic arm assembly, while a medical procedure is being performed on a patient, generate a three-dimensional representation of a projection of boundaries of the field of view of the image capture device when the image capture device is coupled to the second robotic arm assembly, so that the three-dimensional representation is properly positioned relative to a viewing end of the image capture device in the synthetic image while the medical procedure is being performed on the patient, and cause the synthetic representation and the three-dimensional representation of the projection of boundaries of the field of view of the image capture device to be displayed on the display (32, 84) while the medical procedure is being performed on the patient.