Co-manipulation surgical systems having optical sensors for generating graphical displays

A co-manipulation surgical system comprising:

• a robot arm comprising a proximal end, a distal end configured to be removably coupled to a surgical instrument, a plurality of links, and a plurality of joints;
• a platform configured to support the robot arm, the platform comprising a plurality of wheels configured to permit mobility of the platform;
• an optical sensor mounted on the platform and configured to collect depth data;
• and
• a controller operatively coupled to the optical sensor and configured to permit the robot arm to move for performing surgery using the surgical instrument, the controller programmed to:
• load a user profile associated with a user, the user profile comprising information related to the user's preferences, the user's preferences comprising preferred position and/or orientation of a plurality of objects within the operating room;
• receive the depth data collected by the optical sensor;
• generate a virtual map comprising virtual models of the plurality of objects within the operating room based on the depth data collected by the optical sensor, the plurality of objects comprising the platform, the robot arm, a patient bed, and capital equipment;
• and
• cause a display to display the virtual map to guide positioning of the plurality of objects within the operating room and facilitate setup of the co-manipulation surgical system in accordance with the user's preferences.