SafeVision detects objects that will obstruct movement of a surgical robotic arm and microscope head. SafeVision uses the spatial information of the microscope head and robotic arm to prevent collisions with obstacles during movement. Once an object interferes with the robotic arm's trajectory, SafeVision stops arm movement and warns the operator of the detected obstruction. The robotic arm uses distance measuring sensors which forward the information to a processor. The processor communicates with the main Windows system to control the robotic arm using Universal Robotics' API.