Master-to-slave orientation mapping when misaligned

A method of operating a teleoperated system, the method comprising:

• receiving, by a controller, a first command from an input control to manipulate an instrument, the instrument being held and positioned by a robotic arm;
• determining, by the controller when there is an orientation misalignment between an orientation of the input control in an eye coordinate frame and an orientation of a distal portion of the instrument in a camera coordinate frame, a desired orientation of the distal portion, the desired orientation for causing the distal portion to rotate in a same manner about an axis defined with respect to the distal portion as the input control rotates about a corresponding axis defined with respect to the input control;
• and
• transmitting, by the controller, a second command to the robotic arm to cause the instrument to be oriented according to the desired orientation of the instrument.

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

• receiving a first command from an input control to manipulate an instrument, the instrument being held and positioned by a robotic arm;
• determining, when there is an orientation misalignment between an orientation of the input control in an eye coordinate frame and an orientation of a distal portion of the instrument in a camera coordinate frame, a desired orientation of the distal portion, the desired orientation for causing the distal portion to rotate in a same manner about an axis defined with respect to the distal portion as the input control rotates about a corresponding axis defined with respect to the input control;
• and
• transmitting a second command to the robotic arm to cause the instrument to be oriented according to the desired orientation of the instrument.