I cannot or I do not see/hear/feel etc. mean the same thing in English. We do not know why but we know you cannot/do not. In Czech it is simple vidím-nevidím.
When you engage MOCI in Czech it starts having slightly different meaning and you would likely use "able to" in English. Já to nemůžu vidět = I am not able to look at it/watch it
If you're talking about accusative case (sing.) of "ten", then yes, it only works for animate nouns — Mám toho psa. Nesnáším toho kluka. The inanimate masculine nouns (+ adjectives and pronouns) stay the same as nom. — Mám ten velký stůl.
But you need to remember that "toho" is also genetive case of "ten" (both animate and inanimate masculine nouns) and even "to" (neutral nouns).