A master-slave system comprising: a first manipulator (80a-c) supporting a first end effector (41a-c), whereby the first end effector (41a-c) has multiple degrees of freedom of movement; a second manipulator (80a-c) supporting a second end effector (41a-c); a third manipulator (80a-c) supporting a third end effector (41a-c); an input device configured to concurrently receive from a first hand of an operator a first master movement command to effect a desired slave movement of the first end effector (41a-c) and a second master movement command to effect a desired slave movement of the second end effector (41a-c), wherein the input device comprises a first input for receiving the first master movement command; a second input device configured to concurrently receive from a second hand of an operator a third master movement command to effect a desired slave movement of a third end effector (41a-c) and a fourth master movement command to effect a desired slave movement of the first end effector (41a-c), wherein the second input device comprises a second input for receiving the fourth master movement command; and a processor configured to determine a desired slave movement of the second and third end effectors (41a-c) in response to the second and third master movement commands received from the input devices,, respectively; wherein the processor is configured to selectively associate at least one of the degrees of freedom of the first end effector (41a-c) with the first input and to effect movement of the at least one of the degrees of freedom of the first end effector (41a-c) in response to receiving the first master movement command at the first input, and wherein the processor is configured to selectively associate at least one other of the degrees of freedom of the first end effector (41a-c) with the second input and to effect movement of the at least one other of the degrees of freedom of the first end effector (41a-c) in response to receiving the fourth master movement command at the second input. a first manipulator (80a-c) supporting a first end effector (41a-c), whereby the first end effector (41a-c) has multiple degrees of freedom of movement; a second manipulator (80a-c) supporting a second end effector (41a-c); a third manipulator (80a-c) supporting a third end effector (41a-c); an input device configured to concurrently receive from a first hand of an operator a first master movement command to effect a desired slave movement of the first end effector (41a-c) and a second master movement command to effect a desired slave movement of the second end effector (41a-c), wherein the input device comprises a first input for receiving the first master movement command; a second input device configured to concurrently receive from a second hand of an operator a third master movement command to effect a desired slave movement of a third end effector (41a-c) and a fourth master movement command to effect a desired slave movement of the first end effector (41a-c), wherein the second input device comprises a second input for receiving the fourth master movement command; and a processor configured to determine a desired slave movement of the second and third end effectors (41a-c) in response to the second and third master movement commands received from the input devices,, respectively; wherein the processor is configured to selectively associate at least one of the degrees of freedom of the first end effector (41a-c) with the first input and to effect movement of the at least one of the degrees of freedom of the first end effector (41a-c) in response to receiving the first master movement command at the first input, and wherein the processor is configured to selectively associate at least one other of the degrees of freedom of the first end effector (41a-c) with the second input and to effect movement of the at least one other of the degrees of freedom of the first end effector (41a-c) in response to receiving the fourth master movement command at the second input.