A robotic surgical system for treating a patient is disclosed including a surgical tool movable relative to the patient and a user input device configured to remotely control the surgical tool. The surgical tool includes a shaft and an end effector. The user input device includes a base and a controller movable to effect a first control motion a second control motion. The controller includes a first accessibility mode and a second accessibility mode. The robotic surgical system further includes a control circuit configured to receive a motion control signal from the user input device, determine a controller accessibility mode, permit the first control motion in response to the motion control signal in the first accessibility mode and in the second accessibility mode and permit the second control motion in response to the motion control signal in the second accessibility mode but not the first accessibility mode.