Synthetic representation of a surgical robot

A method comprising:

• displaying a first synthetic image, the first synthetic image comprising a first synthetic image of a tool, wherein the tool is supported by a first robotic arm and a camera is supported by a second robotic arm, wherein the first synthetic image of the tool includes a portion of the tool inside of a field of view of the camera and a portion of the tool outside of the field of view of the camera, and wherein the first synthetic image further comprises a synthetic projection of the field of view of the camera;
• receiving a user input at an input device configured to move at least one of the first or second robotic arms;
• and
• responsive to the user input, changing the displaying of the first synthetic image to displaying of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.