A teleoperational medical system for performing a medical procedure in a surgical field, the system comprising: a teleoperational assembly having a motorized surgical arm configured to assist in a surgical procedure, the motorized surgical arm having a motion limit defining a boundary beyond which the motorized surgical arm cannot pass; sensing elements that sense an arrangement of the motorized surgical arm ; and a control system configured to: pre-store a plurality of surgical threshold limits , each of the plurality of surgical threshold limits being associated with a type of surgery, each of the plurality of surgical threshold limits being a boundary defining a limit of a range to be potentially travelled by the motorized surgical arm to suitably perform a surgical procedure for the associated type of surgery, select a surgical threshold limit of the plurality of surgical threshold limits for comparison with the motion limit based on the type of surgery to be performed, and compare the motion limit to the selected surgical threshold limit and notify an operator via an output device: when the selected surgical threshold limit is outside a range of motion bounded by the motion limit , or when the selected surgical threshold limit is within the motion limit and the motion limit is within a preset tolerance of the selected surgical threshold limit . a teleoperational assembly having a motorized surgical arm configured to assist in a surgical procedure, the motorized surgical arm having a motion limit defining a boundary beyond which the motorized surgical arm cannot pass; sensing elements that sense an arrangement of the motorized surgical arm ; and a control system configured to: pre-store a plurality of surgical threshold limits , each of the plurality of surgical threshold limits being associated with a type of surgery, each of the plurality of surgical threshold limits being a boundary defining a limit of a range to be potentially travelled by the motorized surgical arm to suitably perform a surgical procedure for the associated type of surgery, select a surgical threshold limit of the plurality of surgical threshold limits for comparison with the motion limit based on the type of surgery to be performed, and compare the motion limit to the selected surgical threshold limit and notify an operator via an output device: when the selected surgical threshold limit is outside a range of motion bounded by the motion limit , or when the selected surgical threshold limit is within the motion limit and the motion limit is within a preset tolerance of the selected surgical threshold limit . pre-store a plurality of surgical threshold limits , each of the plurality of surgical threshold limits being associated with a type of surgery, each of the plurality of surgical threshold limits being a boundary defining a limit of a range to be potentially travelled by the motorized surgical arm to suitably perform a surgical procedure for the associated type of surgery, select a surgical threshold limit of the plurality of surgical threshold limits for comparison with the motion limit based on the type of surgery to be performed, and compare the motion limit to the selected surgical threshold limit and notify an operator via an output device: when the selected surgical threshold limit is outside a range of motion bounded by the motion limit , or when the selected surgical threshold limit is within the motion limit and the motion limit is within a preset tolerance of the selected surgical threshold limit . when the selected surgical threshold limit is outside a range of motion bounded by the motion limit , or when the selected surgical threshold limit is within the motion limit and the motion limit is within a preset tolerance of the selected surgical threshold limit . <EOS>