1. A method of transforming a cut procedure into a visual representation of a bone cut during resection via a cutting tool, wherein the cutting tool is attached to an arm of a surgical robot, the method comprising: obtaining a bone shape data collection representing a shape of a bone to be resected and generating a bone model from the bone shape data collection; generating a cutting tool model of the cutting tool; collecting tool position data representing a plurality of positions of the cutting tool relative to the bone during resection of the bone and generating a plurality of subtraction models based on the cutting tool model and the plurality of positions; and transforming the bone model and the plurality of subtraction models into an image space visual representation of the bone cut by merging the subtraction models into a single subtraction model and subtracting the single subtraction model from the bone model, the single subtraction model representing the resection.