A medical robotic system (100) includes an entry guide (200) with surgical tools (231, 241) and a camera (211) extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen (140) from the perspective of a specified viewing point.