Surgical systems and methods to interact with a limb of a patient held by a limb holder. An instrument is configured to apply a force externally to the limb held by the limb holder, One or more controllers measure an extent to which the limb moves relative to the limb holder in response to the force applied externally to the limb by the instrument. The one or more controllers generate, based on the measured extent, a notification relating to physical adjustment of one or both of the limb and the limb holder.
