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.

An operation system of a robot arm includes the robot arm disposed in a work box which is sealed, an operation apparatus disposed outside the work box and including an operation device which is operated by an operator to input an operation command of the robot arm, a control apparatus moving the robot arm based on the operation command from the operation apparatus, and a reaction force controller. Based on movable region information which indicates a movable region of the robot arm in the work box, as the robot arm approaches the limit of the movable region, the reaction force controller increases a reaction force which is against a force of moving the operation device by the operator in a direction approaching the limit of the movable region.