Cranial Nerve VI is a somatic efferent nerve that innervates the lateral rectus muscle of the eye. It originates from the abducens nucleus in the pons and emerges at the pontomedullary junction. The nerve travels through the subarachnoid space, cavernous sinus, and superior orbital fissure to reach the lateral rectus muscle, enabling abduction of the eye. Damage to the abducens nerve results in impaired lateral eye movement and esotropia.