A mechanically ungrounded master control device comprises a rigid chassis for engagement with one or more fingers of a users hand and at least one pivotable finger engagement device for controlling movement of a tool end effector. The control device also includes at least one sensor for detecting a position and orientation of the rigid chassis in a surgical environment and a switch coupled to the rigid chassis and manipulatable by a finger of the users hand while another finger of the users hand is engaged with the at least one pivotable finger engagement device.
