A medical robotic system providing three-dimensional telestration, comprising: a stereoscopic endoscope for capturing pairs of stereoscopic images of an anatomical structure; a two-dimensional touch screen; a mentor console adapted to: display an image on the two-dimensional touch screen, and transmit a telestration graphic input drawn over the two-dimensional touch screen by an operator of the mentor console; a three-dimensional display; a surgeon console adapted to: receive the pair of stereoscopic images captured by the stereoscopic endoscope, generate a three-dimensional view of the anatomical structure by using the received pair of stereoscopic images, display the generated three-dimensional view of the anatomical structure on the three-dimensional display, and receive the telestration graphic input transmitted by the mentor console; and characterized by: the mentor console being adapted to: receive one of a pair of stereoscopic images captured by the stereoscopic endoscope, so that the image displayed by the mentor console on the two-dimensional touch screen is the received one of the pair of stereoscopic images; and the surgical console being adapted to: determine a corresponding telestration graphic input in the other of the pair of stereoscopic images by using a disparity map associated with the pair of stereoscopic images on selected points of the received telestration graphic input so that a three-dimensional view of the telestration graphic input is displayable on the three-dimensional display, and cause the three-dimensional view of the telestration graphic input to be displayed as an overlay to the three-dimensional view of the anatomical structure on the three-dimensional display. a stereoscopic endoscope for capturing pairs of stereoscopic images of an anatomical structure; a two-dimensional touch screen; a mentor console adapted to: display an image on the two-dimensional touch screen, and transmit a telestration graphic input drawn over the two-dimensional touch screen by an operator of the mentor console; display an image on the two-dimensional touch screen, and transmit a telestration graphic input drawn over the two-dimensional touch screen by an operator of the mentor console; a three-dimensional display; a surgeon console adapted to: receive the pair of stereoscopic images captured by the stereoscopic endoscope, generate a three-dimensional view of the anatomical structure by using the received pair of stereoscopic images, display the generated three-dimensional view of the anatomical structure on the three-dimensional display, and receive the telestration graphic input transmitted by the mentor console; receive the pair of stereoscopic images captured by the stereoscopic endoscope, generate a three-dimensional view of the anatomical structure by using the received pair of stereoscopic images, display the generated three-dimensional view of the anatomical structure on the three-dimensional display, and receive the telestration graphic input transmitted by the mentor console; and characterized by: the mentor console being adapted to: receive one of a pair of stereoscopic images captured by the stereoscopic endoscope, so that the image displayed by the mentor console on the two-dimensional touch screen is the received one of the pair of stereoscopic images; and the surgical console being adapted to: determine a corresponding telestration graphic input in the other of the pair of stereoscopic images by using a disparity map associated with the pair of stereoscopic images on selected points of the received telestration graphic input so that a three-dimensional view of the telestration graphic input is displayable on the three-dimensional display, and cause the three-dimensional view of the telestration graphic input to be displayed as an overlay to the three-dimensional view of the anatomical structure on the three-dimensional display. the mentor console being adapted to: receive one of a pair of stereoscopic images captured by the stereoscopic endoscope, so that the image displayed by the mentor console on the two-dimensional touch screen is the received one of the pair of stereoscopic images; and receive one of a pair of stereoscopic images captured by the stereoscopic endoscope, so that the image displayed by the mentor console on the two-dimensional touch screen is the received one of the pair of stereoscopic images; and the surgical console being adapted to: determine a corresponding telestration graphic input in the other of the pair of stereoscopic images by using a disparity map associated with the pair of stereoscopic images on selected points of the received telestration graphic input so that a three-dimensional view of the telestration graphic input is displayable on the three-dimensional display, and cause the three-dimensional view of the telestration graphic input to be displayed as an overlay to the three-dimensional view of the anatomical structure on the three-dimensional display. determine a corresponding telestration graphic input in the other of the pair of stereoscopic images by using a disparity map associated with the pair of stereoscopic images on selected points of the received telestration graphic input so that a three-dimensional view of the telestration graphic input is displayable on the three-dimensional display, and cause the three-dimensional view of the telestration graphic input to be displayed as an overlay to the three-dimensional view of the anatomical structure on the three-dimensional display.