Rendering tool information as graphic overlays on displayed images of tools

A system comprising:

• a first input device;
• a first tool having a first working end, the first tool operatively coupled to the first input device;
• an image capture device adapted to generate a captured image from a perspective of an image reference frame, the captured image including an image of the first working end;
• a display;
• and
• a processor programmed to:
• cause the captured image to be displayed on the display;
• and
• cause information of the first input device to be rendered on the image of the first working end in the captured image being displayed on the display by:
• determining a pose of the first working end in the image reference frame;
• registering the information of the first input device with a first designated place on the first working end in the image reference frame by using the pose of the first working end in the image reference frame;
• and
• rendering the information of the first input device over the first designated place on the first working end on the image of the first working end in the captured image being displayed on the display, after registering the information of the first input device with the first designated place on the first working end, so that the entire information of the first input device appears as a first decal that is rendered over the image of the first working end in the captured image being displayed on the display by bending the first decal to conform in shape and be applied to an outer surface of the first working end at the first designated place.