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1. A surgical robotic system, comprising: a first robotic arm configured to control movement of an optical imaging system coupled to the first robotic arm, wherein the optical imaging system includes a prism and a network of optical elements, the prism and the network of optical elements configured to simultaneously provide: first light from an optical emitter to a surgical site, and reflected light from the surgical site to a microscope by way of the prism; a second robotic arm configured to control movement of a surgical tool coupled to the second robotic arm; and a processor configured to: receive imaging data from the optical imaging system; construct a three-dimensional model that includes an anatomy of a patient based on the imaging data; derive a location of the optical imaging system based at least partially from a size of the optical imaging system; register the location of the optical imaging system and positions of the first robotic arm and the second robotic arm on a common coordinate system; establish a surgical boundary based on the common coordinate system, the surgical boundary having a specified distance to a surface defined by the three-dimensional model to restrict movement of the surgical tool; and control movement of the second robotic arm while enforcing the surgical boundary.
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