A teleoperational assembly is disclosed which includes an operator control system and a plurality of manipulators configured to control the movement of medical instruments in a surgical environment. The manipulators are teleoperationally controlled by the operator control system. The system further includes a processing unit configured to display an image of a field of view of the surgical environment, project the position of distal end portions of the medical instruments into the images coordinate space, determine initial positions for badges associated with the distal end portions of each medical instrument, evaluate a display factor for each badge based on its initial position, and determine a final display position for each badge in the images coordinate space based on the display factor.
