Visualization of effects of device movements in an operating room

A device comprising a processor configured to:

• receive an indication of a plurality of steps of a surgical procedure associated with a patient, wherein one or more steps in the plurality of steps of the surgical procedure involve use of a first robotic arm having a first end effector attached and a second robotic arm;
• identify a first candidate motion and a second candidate motion of the first robotic arm configured to place the first end effector in a target end effector position internal to the patient;
• determine, for the first candidate motion, a first number of associated interactions in which the first robotic arm and the second robot arm co-occupy space external to the patient during the surgical procedure;
• determine, for the second candidate motion, a second number of associated interactions in which the first robotic arm and the second robot arm co-occupy space external to the patient during the surgical procedure;
• select a candidate motion of the first robotic arm, from the first candidate motion and the second candidate motion, based on the first number of interactions and the second number of interactions;
• and
• generate a control signal based on the selected candidate motion of the first robotic arm.