A robotic surgical system, comprising: a robot having a first robotic arm assembly and a second robotic arm assembly, wherein the first robotic arm assembly is detachably coupled to a tool, and wherein the second robotic arm assembly is arranged to hold an image capture device having a field of view that is positionable to capture an image of an end effector of the tool; modeling data for providing a synthetic representation of at least a portion of the robot, 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 robot, the tool, and the image capture device are mimicked in the synthetic image 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 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 robot having a first robotic arm assembly and a second robotic arm assembly, wherein the first robotic arm assembly is detachably coupled to a tool, and wherein the second robotic arm assembly is arranged to hold an image capture device having a field of view that is positionable to capture an image of an end effector of the tool; modeling data for providing a synthetic representation of at least a portion of the robot, 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 robot, the tool, and the image capture device are mimicked in the synthetic image 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 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 robot, the tool, and the image capture device are mimicked in the synthetic image 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 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.