A computer-assisted medical device comprising: an articulated arm having one or more first joints and one or more second joints , the articulated arm being configured to have at least a cannula, an endoscope, or an instrument mounted distal to the one or more first joints and the one or more second joints , the cannula, the endoscope, or the instrument being configured to be inserted into a patient at a body opening; and a control unit coupled to the first joints and the second joints ; wherein, to support integrated motion with a surgical table coupled to the device via a communications connection, the control unit is configured to: unlock the one or more first joints ; receive a surgical table movement request from the surgical table ; determine whether the surgical table movement request should be granted; authorize the surgical table 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 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 , 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 due to the tracked movement of the body opening by performing compensating motions in the one or more second joints . an articulated arm having one or more first joints and one or more second joints , the articulated arm being configured to have at least a cannula, an endoscope, or an instrument mounted distal to the one or more first joints and the one or more second joints , the cannula, the endoscope, or the instrument being configured to be inserted into a patient at a body opening; and a control unit coupled to the first joints and the second joints ; wherein, to support integrated motion with a surgical table coupled to the device via a communications connection, the control unit is configured to: unlock the one or more first joints ; receive a surgical table movement request from the surgical table ; determine whether the surgical table movement request should be granted; authorize the surgical table 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 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 , 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 due to the tracked movement of the body opening by performing compensating motions in the one or more second joints . unlock the one or more first joints ; receive a surgical table movement request from the surgical table ; determine whether the surgical table movement request should be granted; authorize the surgical table 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 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 , 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 due to the tracked movement of the body opening by performing compensating motions in the one or more second joints . <EOS>