Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures

A medical system comprising:

• a first slave manipulator configured to move a first device according to a first slave command;
• a first input device operated by a first user, the first input device configured to generate a first command by the first user operating the first input device;
• and
• a control station operated by a second user, the control station coupled to the first slave manipulator and the first input device, the control station including:
• a second input device operated by the second user, the second input device configured to generate a second command by the second user operating the second input device;
• means for generating one or more switch commands;
• and
• an association module adapted to:
• receive the first command and the second command,
• generate the first slave command by using one or both of the first command and the second command according to the one or more switch commands;
• and
• provide the first slave command to the first slave manipulator.