US Patent 11903664 Computer-assisted medical systems and methods

A computer-assisted medical system includes a manipulator arm and an instrument holder physically coupled to the manipulator arm. The instrument holder is configured to releasably couple to an instrument. The instrument holder includes an adjustable assembly and a cannula clamp physically coupled to the adjustable assembly. A physical adjustment of the adjustable assembly moves the cannula clamp relative to the manipulator arm. The cannula clamp is configured to releasably couple to a cannula configured to receive the instrument.