A computer-assisted medical device and machine-readable medium for determining an ergonomic center of an input control. The device comprising a input control for teleoperating an end effector and a control unit comprising one or more processors coupled to both the end effector and the input control. The control unit is configured to detect a start of a repositioning movement for the input control, detect an end of the repositioning movement, determine positions of one or more control points associated with the input control at the end of the repositioning movement, aggregate the positions to determine an input control center point, and aggregate the input control center point with previously obtained input control center points to determine the ergonomic center. The machine-readable medium comprises instructions in accordance with the control unit configuration.
SYSTEM AND METHOD FOR RECENTERING IMAGING DEVICES AND INPUT CONTROLS