A computer-assisted medical device comprising: an input control for teleoperating an end effector ; and a control unit comprising one or more processors coupled to the end effector and the input control ; wherein the control unit is configured to: detect a start of a repositioning movement for the input control ; detect an end of the repositioning movement; determine positions of one or more control points associated with the input control 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 about the ergonomic center to correspond to a position, an orientation, or both the position and the orientation of the end effector within a view space corresponding to an image of the end effector . an input control for teleoperating an end effector ; and a control unit comprising one or more processors coupled to the end effector and the input control ; wherein the control unit is configured to: detect a start of a repositioning movement for the input control ; detect an end of the repositioning movement; determine positions of one or more control points associated with the input control 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 about the ergonomic center to correspond to a position, an orientation, or both the position and the orientation of the end effector within a view space corresponding to an image of the end effector . detect a start of a repositioning movement for the input control ; detect an end of the repositioning movement; determine positions of one or more control points associated with the input control 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 about the ergonomic center to correspond to a position, an orientation, or both the position and the orientation of the end effector within a view space corresponding to an image of the end effector . 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 about the ergonomic center to correspond to a position, an orientation, or both the position and the orientation of the end effector within a view space corresponding to an image of the end effector . <EOS>