A teleoperational robotic system comprising: a teleoperational assembly including a plurality of robotic arms; a master controller configured to receive input from an operator; and a plurality of instruments disposed on the plurality of robotic arms, wherein the instruments are controllable by a control system based on the received input, wherein the plurality of instruments includes an imaging device, wherein the control system is configured to reassign control by the master controller of a first instrument to a second instrument by: detecting activation of an instrument reassignment input, computing, by the control system, proxy positions of at least a first instrument and a second instrument of the plurality of instruments, wherein the proxy positions of at least the first instrument and the second instrument are defined relative to a frame of reference of the imaging device, computing a proxy position of the master controller relative to the frame of reference of the imaging device, receiving a user input at the master controller associating the proxy position of the master controller with the proxy position of the second instrument, and assigning control of the second instrument to the master controller based on the association between the proxy position of the master controller with the proxy position of the second instrument. a teleoperational assembly including a plurality of robotic arms; a master controller configured to receive input from an operator; and a plurality of instruments disposed on the plurality of robotic arms, wherein the instruments are controllable by a control system based on the received input, wherein the plurality of instruments includes an imaging device, wherein the control system is configured to reassign control by the master controller of a first instrument to a second instrument by: detecting activation of an instrument reassignment input, computing, by the control system, proxy positions of at least a first instrument and a second instrument of the plurality of instruments, wherein the proxy positions of at least the first instrument and the second instrument are defined relative to a frame of reference of the imaging device, computing a proxy position of the master controller relative to the frame of reference of the imaging device, receiving a user input at the master controller associating the proxy position of the master controller with the proxy position of the second instrument, and assigning control of the second instrument to the master controller based on the association between the proxy position of the master controller with the proxy position of the second instrument. detecting activation of an instrument reassignment input, computing, by the control system, proxy positions of at least a first instrument and a second instrument of the plurality of instruments, wherein the proxy positions of at least the first instrument and the second instrument are defined relative to a frame of reference of the imaging device, computing a proxy position of the master controller relative to the frame of reference of the imaging device, receiving a user input at the master controller associating the proxy position of the master controller with the proxy position of the second instrument, and assigning control of the second instrument to the master controller based on the association between the proxy position of the master controller with the proxy position of the second instrument.