A robotic surgical system comprising: a patient-side surgeon interface comprising a display device and a master interface, wherein the display device is configured to be mounted in an operating room to permit viewing by a person working in a sterile surgical field within the operating room, wherein the master interface comprises a mechanically ungrounded master tool grip configured to be positioned within the sterile surgical field and a hand-tracking transmitter that is separate and removed from the mechanically ungrounded master tool grip, and wherein the mechanically ungrounded master tool grip, in combination with the hand-tracking transmitter, is configured to generate sensed mechanically ungrounded master tool grip position and orientation information in a body-centric reference frame defined with respect to a person operating the mechanically ungrounded master tool grip; a teleoperated slave surgical instrument comprising a surgical end effector, wherein at least a portion of the teleoperated slave surgical instrument is configured to be positioned within the sterile surgical field; and a control system coupled to the mechanically ungrounded master tool grip, to the hand-tracking transmitter, to the display device, and to the teleoperated slave surgical instrument, wherein the control system is configured to receive the sensed position and orientation information in the body-centric reference frame, the control system is configured to generate a control command using the sensed position and orientation information, and the control system is configured to send the control command to move the surgical end effector with respect to a reference frame associated with an image displayed on the display device. a patient-side surgeon interface comprising a display device and a master interface, wherein the display device is configured to be mounted in an operating room to permit viewing by a person working in a sterile surgical field within the operating room, wherein the master interface comprises a mechanically ungrounded master tool grip configured to be positioned within the sterile surgical field and a hand-tracking transmitter that is separate and removed from the mechanically ungrounded master tool grip, and wherein the mechanically ungrounded master tool grip, in combination with the hand-tracking transmitter, is configured to generate sensed mechanically ungrounded master tool grip position and orientation information in a body-centric reference frame defined with respect to a person operating the mechanically ungrounded master tool grip; a teleoperated slave surgical instrument comprising a surgical end effector, wherein at least a portion of the teleoperated slave surgical instrument is configured to be positioned within the sterile surgical field; and a control system coupled to the mechanically ungrounded master tool grip, to the hand-tracking transmitter, to the display device, and to the teleoperated slave surgical instrument, wherein the control system is configured to receive the sensed position and orientation information in the body-centric reference frame, the control system is configured to generate a control command using the sensed position and orientation information, and the control system is configured to send the control command to move the surgical end effector with respect to a reference frame associated with an image displayed on the display device.