A method comprises displaying an image of a field of view of a surgical environment. A first medical instrument in the field of view may be coupled to a first manipulator in a teleoperational assembly. The method may comprise displaying a menu proximate to an image of the first medical instrument in the image of the field of view. The menu may include a plurality of icons wherein each icon is associated with a function for the first medical instrument. The method may also comprise identifying a selected icon from the plurality of icons based upon a movement of an operator control device of a teleoperational operator control system.