1. A medical system comprising: a medical device; an input device that is operated by an operator to output a commanded state of the medical device; a pose selector that outputs a preferred pose of the medical device, the preferred pose being different, at a time of pose selection, than the commanded state and a current pose of the medical device, the preferred pose being one of a default pose and an operator defined pose, the default pose fixed for the medical device, the operator defined pose having been defined by the operator of the input device; and a control system for controlling movement of the medical device from the current pose of the medical device in response to the commanded state and for commanding a biasing force to be applied to the input device such that the biasing force increases whenever a difference between the commanded state and the preferred pose increases.