A teleoperational system comprising: an input device; a first manipulator arm configured to couple with and move an instrument (128, 170, 190, 400, 450, 460, 480, 500, 550); a second manipulator arm configured to couple with and move an imaging instrument; a control system including one or more processors, wherein the control system is configured to: in response to a determination that the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550) is inserted into an instrument workspace in a direction that is no more than 90 degrees from a viewing axis of the imaging instrument in the instrument workspace, map movement of the input device to movement of the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550) according to a first mapping, and in response to a determination that the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550) is inserted into the instrument workspace in a direction that is greater than 90 degrees from the viewing axis, map movement of the input device to movement of the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550) according to a second mapping, wherein the second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550). an input device; a first manipulator arm configured to couple with and move an instrument (128, 170, 190, 400, 450, 460, 480, 500, 550); a second manipulator arm configured to couple with and move an imaging instrument; a control system including one or more processors, wherein the control system is configured to: in response to a determination that the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550) is inserted into an instrument workspace in a direction that is no more than 90 degrees from a viewing axis of the imaging instrument in the instrument workspace, map movement of the input device to movement of the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550) according to a first mapping, and in response to a determination that the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550) is inserted into the instrument workspace in a direction that is greater than 90 degrees from the viewing axis, map movement of the input device to movement of the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550) according to a second mapping, wherein the second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550). in response to a determination that the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550) is inserted into an instrument workspace in a direction that is no more than 90 degrees from a viewing axis of the imaging instrument in the instrument workspace, map movement of the input device to movement of the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550) according to a first mapping, and in response to a determination that the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550) is inserted into the instrument workspace in a direction that is greater than 90 degrees from the viewing axis, map movement of the input device to movement of the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550) according to a second mapping, wherein the second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument (128, 170, 190, 400, 450, 460, 480, 500, 550).