Systems and methods for identifying and tracking physical objects during a robotic surgical procedure

Abstract A system for tracking a physical object, comprising: a robotic device; an instrument attachable to the robotic device, the instrument being configured to treat tissue; a vision device attached to one of the robotic device or the instrument such that the vision device is movable with the robotic device, the vision device configured to generate vision data sets, wherein the vision data sets are captured from multiple perspectives of the physical object enabled by the vision device being moved in a plurality of degrees of freedom during movement of the robotic device; and one or more controllers having at least one processor and being in communication with the vision device, the one or more controllers being configured to associate a virtual object with the physical object based on one or more features of the physical object identifiable in the vision data sets, wherein the virtual object at least partially defines a virtual boundary defining a constraint on movement of the robotic device relative to the physical object.