Proximity sensors for surgical robotic arm manipulation

A collision avoidance method for a surgical robotic manipulator, the method comprising:

• detecting a distance of an object to a surgical robotic manipulator using a proximity sensing assembly, wherein the surgical robotic manipulator comprises a plurality of links coupled together by a plurality of joints that are operable to move with respect to one another to move the surgical robotic manipulator and the proximity sensing assembly is coupled to a portion of at least one of the plurality of links that faces another link of the plurality of links when the surgical robotic manipulator is moving;
• determining whether a collision between the object and the surgical robotic manipulator is imminent by comparing the detected distance of the object to a predetermined collision avoidance distance, the predetermined collision avoidance distance corresponding to a predetermined distance to be maintained between the object and the surgical robotic manipulator to avoid a collision;
• and
• based on the determining, causing the surgical robotic manipulator or the object to engage in a collision avoidance operation that prevents the surgical robotic manipulator from colliding with the object.