Determing an ergonomic center for an input control

A method comprising:

• detecting, by a control unit, a start of a repositioning movement for an input control of a computer-assisted device, wherein movement of the input control during teleoperation is usable to command corresponding movement of an end effector, wherein the end effector is separate from the input control, and wherein one or more control points comprise points in a console workspace where the input control is located, and wherein the end effector controlled by the input control is in a workspace different from the console workspace;
• detecting, by the control unit, an end of the repositioning movement;
• determining, by the control unit, one or more corresponding end positions, each corresponding end position being a position of a control point of the one or more control points at the end of the repositioning movement;
• determining, by the control unit, an input control reference point based on the one or more corresponding end positions;
• and
• aggregating, by the control unit, the input control reference point with at least one previously obtained input control reference point to determine an ergonomic center for the input control.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions, which when executed by one or more processors associated with a computer-assisted device, are adapted to cause the one or more processors to perform a method comprising:

• detecting a start of a repositioning movement for an input control of the computer-assisted device, wherein movement of the input control during teleoperation is usable to command corresponding movement of an end effector, wherein the end effector is separate from the input control, and wherein one or more control points comprise points in a console workspace where the input control is located, and wherein the end effector controlled by the input control is in a workspace different from the console workspace;
• detecting an end of the repositioning movement;
• determining one or more corresponding end positions, each corresponding end position being a position of a control point of the one or more control points at the end of the repositioning movement;
• determining an input control reference point based on the one or more corresponding end positions;
• and
• aggregating the input control reference point with at least one previously obtained input control reference point to determine an ergonomic center for the input control.