System and method for controlling a surgical robotic system

A surgical robotic system comprising:

• a surgical console;
• a uterine manipulator including a first body, a robotic arm interface disposed at a proximal end portion of the first body and configured to couple to a robotic arm controlled by the surgical console, and a first end effector disposed at a distal end portion of the first body and configured for insertion into a uterus of a patient, wherein the first end effector is pivotable relative to the first body to manipulate the uterus;
• and
• a simulated uterine manipulator remotely disposed relative to the uterine manipulator and including a second body and a handle coupled to a proximal end portion of the second body, the simulated uterine manipulator connected to the surgical console such that pivoting the handle relative to the second body pivots the first end effector relative to the first body in a corresponding manner,
• wherein the simulated uterine manipulator further includes a second end effector coupled to a distal end portion of the second body, and
• wherein pivoting the handle relative to the second body pivots the second end effector relative to the second body in a corresponding manner to simulate a position of the first end effector within a surgical site.