Robotic surgical collision detection systems

A surgical robotic collision detection system, comprising:

• a robotic cart having a robotic arm;
• a plurality of imaging devices supported by the robotic cart or the robotic arm, the plurality of imaging devices configured to capture images within a field of vision of the plurality of imaging devices;
• and
• a controller in operable communication with the robotic arm and the plurality of imaging devices, the controller having a processor and a memory storing instructions thereon which, when executed by the processor, causes the controller to:
• receive the images from the plurality of imaging devices;
• generate a three-dimensional grid including a first plurality of spatial points from the images;
• and
• detect a potential collision of objects located within the field of vision based on:
• the generated three-dimensional grid;
• the geometric orientation of the objects located within the field of vision;
• and
• a sweep volume of movement of each of the objects located within the field of vision,
• wherein any overlap in the sweep volumes of the objects located within the field of vision provides an indication of the potential collision.