A foot pedal for a robotic surgical system includes a base plate, a foot plate, a first biasing member, and a second biasing member. The foot plate is pivotally coupled to the base plate and has uncompressed, partially compressed, and fully compressed positions. The first biasing member is configured to urge the foot plate towards the uncompressed position when the foot plate is between the fully compressed and uncompressed positions. The second biasing member is configured to urge the foot plate towards the uncompressed position when the foot plate is between the fully compressed and partially compressed positions. Methods for using the foot pedal to control a tool and a camera of a surgical robot are also disclosed.
