A computer-assisted medical device (110, 210, 420, 1101, 1111, 1121, 1131, 1141, 1151, 1161) comprising: an articulated arm having one or more first joints (223, 226, 242, 264, 292, 298) and one or more second joints (223, 226, 242, 264, 292, 298), the articulated arm being configured to have at least a cannula, an endoscope, or an instrument (270, 1020, 1030, 1142) mounted distal to the one or more first joints (223, 226, 242, 264, 292, 298) and the one or more second joints (223, 226, 242, 264, 292, 298), the cannula, the endoscope, or the instrument (270, 1020, 1030, 1142) being configured to be inserted into a patient at a body opening; and a control unit coupled to the first joints (223, 226, 242, 264, 292, 298) and the second joints (223, 226, 242, 264, 292, 298); wherein, to support integrated motion with a surgical table (170, 280, 410, 1100) coupled to the device (110, 210, 420, 1101, 1111, 1121, 1131, 1141, 1151, 1161) via a communications connection, the control unit is configured to: unlock the one or more first joints (223, 226, 242, 264, 292, 298); receive a surgical table movement request from the surgical table (170, 280, 410, 1100); determine whether the surgical table movement request should be granted; authorize the surgical table (170, 280, 410, 1100) to perform the surgical table movement request based on determining whether the surgical table movement request should be granted; use the one or more first joints (223, 226, 242, 264, 292, 298) to allow the articulated arm to track movement of the body opening based on forces applied by a body wall of the patient at the body opening on the cannula, the endoscope, or the instrument (270, 1020, 1030, 1142), the forces being due to performing the surgical table movement request; and compensate for changes in a pose of the cannula, the endoscope, or the instrument (270, 1020, 1030, 1142) due to the tracked movement of the body opening by performing compensating motions in the one or more second joints (223, 226, 242, 264, 292, 298). an articulated arm having one or more first joints (223, 226, 242, 264, 292, 298) and one or more second joints (223, 226, 242, 264, 292, 298), the articulated arm being configured to have at least a cannula, an endoscope, or an instrument (270, 1020, 1030, 1142) mounted distal to the one or more first joints (223, 226, 242, 264, 292, 298) and the one or more second joints (223, 226, 242, 264, 292, 298), the cannula, the endoscope, or the instrument (270, 1020, 1030, 1142) being configured to be inserted into a patient at a body opening; and a control unit coupled to the first joints (223, 226, 242, 264, 292, 298) and the second joints (223, 226, 242, 264, 292, 298); wherein, to support integrated motion with a surgical table (170, 280, 410, 1100) coupled to the device (110, 210, 420, 1101, 1111, 1121, 1131, 1141, 1151, 1161) via a communications connection, the control unit is configured to: unlock the one or more first joints (223, 226, 242, 264, 292, 298); receive a surgical table movement request from the surgical table (170, 280, 410, 1100); determine whether the surgical table movement request should be granted; authorize the surgical table (170, 280, 410, 1100) to perform the surgical table movement request based on determining whether the surgical table movement request should be granted; use the one or more first joints (223, 226, 242, 264, 292, 298) to allow the articulated arm to track movement of the body opening based on forces applied by a body wall of the patient at the body opening on the cannula, the endoscope, or the instrument (270, 1020, 1030, 1142), the forces being due to performing the surgical table movement request; and compensate for changes in a pose of the cannula, the endoscope, or the instrument (270, 1020, 1030, 1142) due to the tracked movement of the body opening by performing compensating motions in the one or more second joints (223, 226, 242, 264, 292, 298). unlock the one or more first joints (223, 226, 242, 264, 292, 298); receive a surgical table movement request from the surgical table (170, 280, 410, 1100); determine whether the surgical table movement request should be granted; authorize the surgical table (170, 280, 410, 1100) to perform the surgical table movement request based on determining whether the surgical table movement request should be granted; use the one or more first joints (223, 226, 242, 264, 292, 298) to allow the articulated arm to track movement of the body opening based on forces applied by a body wall of the patient at the body opening on the cannula, the endoscope, or the instrument (270, 1020, 1030, 1142), the forces being due to performing the surgical table movement request; and compensate for changes in a pose of the cannula, the endoscope, or the instrument (270, 1020, 1030, 1142) due to the tracked movement of the body opening by performing compensating motions in the one or more second joints (223, 226, 242, 264, 292, 298).