A system, comprising: a memory storing instructions; and a processor communicatively coupled to the memory and configured to execute the instructions to: obtain, from a depth sensor included in an imaging device, depth data representative of a depth map for an internal space of a patient; obtain, from a force sensor integrated into a surgical instrument controlled by a computer-assisted surgical system, force sensing data representative of an amount of external force applied to the surgical instrument; and perform, based on the depth data and the force sensing data, an operation associated with the computer-assisted surgical system configured to perform a procedure within the internal space of the patient, the performing the operation associated with the computer-assisted surgical system comprising: determining, based on the depth data and on the force sensing data, that the surgical instrument begins moving towards a structure located in the internal space in response to the external force applied to the surgical instrument; and instructing, in response to the determining that the surgical instrument begins moving towards the structure, the computer-assisted surgical system to stop the movement of the surgical instrument towards the structure. a memory storing instructions; and a processor communicatively coupled to the memory and configured to execute the instructions to: obtain, from a depth sensor included in an imaging device, depth data representative of a depth map for an internal space of a patient; obtain, from a force sensor integrated into a surgical instrument controlled by a computer-assisted surgical system, force sensing data representative of an amount of external force applied to the surgical instrument; and perform, based on the depth data and the force sensing data, an operation associated with the computer-assisted surgical system configured to perform a procedure within the internal space of the patient, the performing the operation associated with the computer-assisted surgical system comprising: determining, based on the depth data and on the force sensing data, that the surgical instrument begins moving towards a structure located in the internal space in response to the external force applied to the surgical instrument; and instructing, in response to the determining that the surgical instrument begins moving towards the structure, the computer-assisted surgical system to stop the movement of the surgical instrument towards the structure. obtain, from a depth sensor included in an imaging device, depth data representative of a depth map for an internal space of a patient; obtain, from a force sensor integrated into a surgical instrument controlled by a computer-assisted surgical system, force sensing data representative of an amount of external force applied to the surgical instrument; and perform, based on the depth data and the force sensing data, an operation associated with the computer-assisted surgical system configured to perform a procedure within the internal space of the patient, the performing the operation associated with the computer-assisted surgical system comprising: determining, based on the depth data and on the force sensing data, that the surgical instrument begins moving towards a structure located in the internal space in response to the external force applied to the surgical instrument; and instructing, in response to the determining that the surgical instrument begins moving towards the structure, the computer-assisted surgical system to stop the movement of the surgical instrument towards the structure. determining, based on the depth data and on the force sensing data, that the surgical instrument begins moving towards a structure located in the internal space in response to the external force applied to the surgical instrument; and instructing, in response to the determining that the surgical instrument begins moving towards the structure, the computer-assisted surgical system to stop the movement of the surgical instrument towards the structure.