A computer-assisted medical device comprising: an input control (195, 760, 770) for teleoperating an end effector (125, 310, 320, 330); and a control unit comprising one or more processors coupled to the end effector (125, 310, 320, 330) and the input control (195, 760, 770); wherein the control unit is configured to: detect a start of a repositioning movement for the input control (195, 760, 770); detect an end of the repositioning movement; determine positions of one or more control points (762, 764, 766, 772, 774) associated with the input control (195, 760, 770) at the end of the repositioning movement; characterised in that the control unit is further configured to: aggregate the positions to determine an input control center point; aggregate the input control center point with previously obtained input control center points to determine an ergonomic center; and reposition, reorient, or both reposition and reorient the input control (195, 760, 770) about the ergonomic center to correspond to a position, an orientation, or both the position and the orientation of the end effector (125, 310, 320, 330) within a view space corresponding to an image of the end effector (125, 310, 320, 330). an input control (195, 760, 770) for teleoperating an end effector (125, 310, 320, 330); and a control unit comprising one or more processors coupled to the end effector (125, 310, 320, 330) and the input control (195, 760, 770); wherein the control unit is configured to: detect a start of a repositioning movement for the input control (195, 760, 770); detect an end of the repositioning movement; determine positions of one or more control points (762, 764, 766, 772, 774) associated with the input control (195, 760, 770) at the end of the repositioning movement; characterised in that the control unit is further configured to: aggregate the positions to determine an input control center point; aggregate the input control center point with previously obtained input control center points to determine an ergonomic center; and reposition, reorient, or both reposition and reorient the input control (195, 760, 770) about the ergonomic center to correspond to a position, an orientation, or both the position and the orientation of the end effector (125, 310, 320, 330) within a view space corresponding to an image of the end effector (125, 310, 320, 330). detect a start of a repositioning movement for the input control (195, 760, 770); detect an end of the repositioning movement; determine positions of one or more control points (762, 764, 766, 772, 774) associated with the input control (195, 760, 770) at the end of the repositioning movement; characterised in that the control unit is further configured to: aggregate the positions to determine an input control center point; aggregate the input control center point with previously obtained input control center points to determine an ergonomic center; and reposition, reorient, or both reposition and reorient the input control (195, 760, 770) about the ergonomic center to correspond to a position, an orientation, or both the position and the orientation of the end effector (125, 310, 320, 330) within a view space corresponding to an image of the end effector (125, 310, 320, 330). aggregate the positions to determine an input control center point; aggregate the input control center point with previously obtained input control center points to determine an ergonomic center; and reposition, reorient, or both reposition and reorient the input control (195, 760, 770) about the ergonomic center to correspond to a position, an orientation, or both the position and the orientation of the end effector (125, 310, 320, 330) within a view space corresponding to an image of the end effector (125, 310, 320, 330).