A system and method of collision avoidance includes determining a position and an orientation, the position and the orientation being of a repositionable arm or of an instrument, the repositionable arm being configured to support the instrument； determining, based on the position and the orientation, a plurality of first virtual boundaries around the repositionable arm or the instrument； determining a second virtual boundary around an object； determining a first overlap force on the repositionable arm due to a first overlap between the second virtual boundary and a virtual boundary of the plurality of first virtual boundaries； determining a tip force on a distal end of the instrument based on the first overlap force； and applying the tip force as a first feedback force on the instrument or the repositionable arm.
