I will try to explain this the best I can...
Even though I have been in Judo for a very long time. I am not really good with the names of the throws.
For example. I know what Harai-goshi is. But when it comes to Uchi Mata. I have been told what I do is Uchi Mata by some, and then some said I was doing Hane-goshi.
My throw to me is more uchimata, but I do occasionally bend my leg to get that extra lift off his leg. But no matter what throw I was executing, I always concentrated on hitting my hip just on the inside of his, with a small lifting motion. Then lifting the leg to finish.
One more note. The only time I do uchimata on the same side leg, is when they are in defensive posture. Other then that, i always enter in as if I am doing Harai-goshi, but my leg ends up on the inside, sometimes bent.
I explain my uchimata in full detail at
MMA Instructional.com Live to Train, Train to Live! MMA Video Lessons from the Top MMA Fighters and Instructors!
I also explain my switch throw from uchimata which got me a lot of Ippon throws!
Sorry for any misspelled words..