The present disclosure is directed to a robotic surgical system that includes a robotic surgical device having a robotic arm and an end effector with a pair of jaw members. A handpiece includes a pinch interface to control the arm or end effector, optical marker(s), an accelerometer, and a transmitter to transmit data from the pinch interface or accelerometer to the robotic surgical device. The system further includes a tracking system, to track the marker and provide a position or orientation of the handpiece. A processor receives: (i) the position or orientation of the handpiece from the tracking system; and (ii) the measured acceleration of the handpiece from the accelerometer. The processor integrates the measured acceleration to establish a second position beyond that of the tracking system. The processor controls movement of the robotic arm and end effector based on the received data from the camera or the accelerometer.