A system for visualizing a surgical site, the system comprising: a robotic mechanism for performing a procedure on a patient; an imaging device coupled to the robotic mechanism, the imaging device configured to provide image data of a site of interest; a computing device coupled to the imaging device, the computing device including one or more processors and at least one memory device configured to store executable instructions, the executable instructions, when executed by the processor, are configured to: receive the image data of the site of interest, the image data including a sequence of frames; differentiate between a tissue and blood obstructing the tissue in the received image data based on a range of target colors that move in a particular pattern in the sequence of frames; filter the received image data to remove line-of-sight restrictions by replacing pixels related to the blood with pixels related to the tissue being obstructed by the blood using a buffered image of the tissue before being obstructed by the blood; generate an output frame from the filtered image data; wherein the processor is further configured to cease filtering when an amount of the blood in a field of view exceeds a predetermined threshold or alert a user when an increase in blood flow is determined; and a presentation interface device coupled to the computing device, the presentation interface device configured to present the output frame for visualization of the site of interest. a robotic mechanism for performing a procedure on a patient; an imaging device coupled to the robotic mechanism, the imaging device configured to provide image data of a site of interest; a computing device coupled to the imaging device, the computing device including one or more processors and at least one memory device configured to store executable instructions, the executable instructions, when executed by the processor, are configured to: receive the image data of the site of interest, the image data including a sequence of frames; differentiate between a tissue and blood obstructing the tissue in the received image data based on a range of target colors that move in a particular pattern in the sequence of frames; filter the received image data to remove line-of-sight restrictions by replacing pixels related to the blood with pixels related to the tissue being obstructed by the blood using a buffered image of the tissue before being obstructed by the blood; generate an output frame from the filtered image data; wherein the processor is further configured to cease filtering when an amount of the blood in a field of view exceeds a predetermined threshold or alert a user when an increase in blood flow is determined; and receive the image data of the site of interest, the image data including a sequence of frames; differentiate between a tissue and blood obstructing the tissue in the received image data based on a range of target colors that move in a particular pattern in the sequence of frames; filter the received image data to remove line-of-sight restrictions by replacing pixels related to the blood with pixels related to the tissue being obstructed by the blood using a buffered image of the tissue before being obstructed by the blood; generate an output frame from the filtered image data; wherein the processor is further configured to cease filtering when an amount of the blood in a field of view exceeds a predetermined threshold or alert a user when an increase in blood flow is determined; and a presentation interface device coupled to the computing device, the presentation interface device configured to present the output frame for visualization of the site of interest.