1. A method for providing a computer-generated view of at least a first articulatable instrument extending out of a distal end of an entry guide, the first articulatable instrument having a most proximal joint and a most distal joint, the most distal joint disposed beyond the distal end of the entry guide, the method comprising: receiving information of states of the entry guide and the first articulatable instrument; generating the computer-generated view to include a graphical representation of the most distal joint of the first articulatable instrument and a graphical representation of a spatial boundary for the first articulatable instrument, the spatial boundary being a function of a position of the most distal joint relative to the distal end of the entry guide, and the graphical representations being positioned in the computer-generated view by using the received information and by using forward kinematics of the entry guide and the first articulatable instrument; and displaying the computer-generated view on a display screen.