A computer-assisted medical device includes a first articulated arm, a second articulated arm, an arm stabilizer, and a control system. The arm stabilizer includes first and second clamps and one or more sensors. The first and second clamps are configured to couple the arm stabilizer to the first and second articulated arms. At least one of a distance or a relative orientation between the first and second clamps is adjustable and the one or more sensors are configured to determine the distance or relative orientation. The control system is configured to implement a following mode in which the control system drives movement of the second articulated arm in response to movements of the first articulated arm and the arm stabilizer.