Co-manipulation surgical system for use with surgical instruments for performing surgery and having sensors for detecting motion

A co-manipulation surgical system to assist with surgery performed using a surgical instrument having a handle, an operating end, and an elongated shaft therebetween, the co-manipulation surgical system comprising:

• a robot arm comprising a proximal end operatively coupled to a base, a distal end configured to be removably coupled to the surgical instrument, a plurality of links, and a plurality of joints;
• a platform coupled to the base, the platform configured to move the base in at least one degree of freedom;
• a plurality of motors operatively coupled to at least some joints of the plurality of joints;
• at least one sensor configured to collect sensor data comprising at least one of 3D depth data or pixel image data;
• and
• a controller operatively coupled to the robot arm and the at least one sensor, the controller programmed to:
• identify at least one of a position or orientation of at least one object or person within an operating room based on the sensor data from the at least one sensor;
• estimate a relative distance between the at least one object or person and at least one of the base or the robot arm as the at least one of the base or the robot arm moves within the operating room;
• and
• apply torque or impedance to the at least some joints of the plurality of joints of the robot arm via the plurality of motors to reposition or inhibit movement of the robot arm to avoid a collision between the at least one object or person and the at least one of the base or the robot arm if the estimated relative distance falls within a predetermined threshold.