A system comprises a teleoperational assembly including an operator control system and manipulators configured for teleoperation by the operator control system. A first manipulator controls a first medical instrument in a surgical environment and a second manipulator controls an imaging instrument. The system also comprises a processing unit to display an image of a field of view of the surgical environment captured by the imaging instrument and determine a position of a distal portion of the first medical instrument in an image coordinate space. The processing unit determines an initial position for a first badge associated with the distal portion of the first medical instrument and determine a badge placement boundary for the image of the field of view. The processing unit also adjusts the first badge from the initial position to a display position within the badge placement boundary of the image of the field of view.
