A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm； receive second configurations for the second movable arm； receive a plurality of images of the working end from the image capturing device； determine a position and an orientation of the working end； determine a first movable arm position and trajectory for the first movable arm； determine a second movable arm position and trajectory for the second movable arm； determine whether motion of the movable arms will result in an undesirable relationship between the movable arms； and send a movement command to the first or second movable arm to avoid the undesirable relationship.
