Segmented control inputs for surgical robotic systems

A robotic surgical system for treating a patient, the robotic surgical system comprising:

• a surgical tool movable relative to the patient, wherein the surgical tool comprises:
• a shaft;
• and
• an end effector extending distally from the shaft;
• a user input device configured to remotely control the surgical tool, the user input device comprising:
• a base;
• and
• a controller movable relative to the base to effect a first control motion of the shaft and a second control motion of the end effector relative to the shaft, wherein the controller comprises:
• a first accessibility mode;
• and
• a second accessibility mode;
• and
• 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 of the shaft in response to the motion control signal in the first accessibility mode and in the second accessibility mode;
• and
• permit the second control motion of the end effector relative to the shaft in response to the motion control signal in the second accessibility mode but not the first accessibility mode.