First, as I always say in these things, all a child needs to grow up healthy is love and affection. While I have my views on co-sleeping like this I would stress that either option is not the end of the world or going to have a drastic or harmful effect on the child. Having said that, my advice is to move your daughter to a new room.
As the study linked by Tom says, when you actually read it instead of the version misquoted out of context by Tom, it's been found that co-sleeping leads to more stress for the child, though the sample size is small enough to not be definitive. I also believe, from personal experience volunteering with many children, that this and other 'attachment' forms of parenting generally lead to a child feeling less independent or secure in making independent decisions which I consider harmful in life.
Furthermore, as long as you have the child in your room you are getting disturbed and incomplete sleep, less alone time with your partner-which is important for maintaining any relationship, and your activities are waking your daughter limiting her own sleep. All of this is a short term problem that can be avoided by moving your daughter, even if it does not do any sort of long term harm. Since you will need to move your daughter eventually, she isn't going to be sleeping with you when 18 obviously, I believe it's best to do the transition now for your own peace and comfort as well as to encourage her independence and her getting a more relaxing & refreshing sleep.
When you move her to her own room she will cry at first, that is always how it is. To limit this I suggest stressing that the move is because she is a big girl and big girls graduate to getting their own room. Basically make a really big deal about how great a reward this is and how it shows how much she has grown and how lucky she is, the more it's built up as a right of passage the more likely she is to be proud rather then upset by the transition.
If she doesn't already have a bedroom you could build up the proces of setting her up with a bedroom to get her excited. let her decide on small things about the room, where to set the night light, how her bed should be positioned, the wall paper if you happen to be replacing it etc. Put her fun toys their, maybe even buy one or two new stuff animals she is excited about but tell her she is getting them because she now has a room of her own to keep them in, by implying a new room means more space for toys and fun things you get her excited about the room, and by extension about staying in it. You could even try saying that a new stuffed animal should stay in her room and she needs to stay to sleep with it to keep it company (rather this would work depends heavily on your daughter and her personality so I'll let you judge if she would take well to that).
During the original transition you, or your wife, may want to stay with your daughter as she is falling asleep using whatever bedtime routine she is use to, leaving the room only after she is asleep. After a few nights of this I would then transition to a bedtime routine followed by your leaving your big-girl alone in her room to fall asleep.
At some point she may cry, It is okay to go to her on occasion at first, but make sure not to set up a process where she knows you will come to her any time she cries or your encourage her to just keep crying. stay with he and help her to grow comfortable with it at first during the transition, but don't be afraid to tell her that she needs to stay in bed or that you can't always come to her if she keeps crying for you to stay with her. As with any transition it can be difficult for her, but it can be easier for both of you to push her into the transition if she is too resistant, tear the band-aid off quickly rather then slowly basically. Even if it means a few harder nights she will transition quickly enough and once adjusted be happier with the arrangement.