A method for automatically predetermining an intended movement of a manipulator arrangement of a medical system having a medical instrument and a recording means for generating images, wherein the recording means and/or the instrument is guided by the manipulator arrangement. The method includes establishing an intended transformation between a reference stationary in relation to the recording means and a reference stationary in relation to the instrument； monitoring a deviation between the intended transformation and a current transformation between the reference stationary in relation to the recording means and the reference stationary in relation to the instrument； and determining a reset movement of the manipulator arrangement for returning the current transformation to the intended transformation when the deviation satisfies a predetermined condition.
