Example embodiments relate to devices, systems, and methods for performing a surgical action. The system may include a port assembly and instrument arm assembly. Port assembly includes proximal and distal ends, central access channel, and anchor ports formed at the distal end of the port assembly. Instrument arm assembly is configurable to be inserted through the central access channel and secured to an anchor port in a reverse-directed configuration. Instrument arm assembly includes an instrument arm and securing portion. Instrument arm includes a serially connected arrangement of a shoulder section, first arm section, elbow section, second arm section, wrist section, and end effector. Securing portion is an elongated member having proximal and distal ends. Distal end of the securing portion is securable to the shoulder section. Proximal end of the securing portion is for guiding the instrument arm assembly through the central access channel of the port assembly.

Example embodiments relate to surgical devices, systems, and methods. The system may include a port assembly. The port assembly may be for use with a surgical arm assembly having a surgical arm and elongated anchor section. The port assembly may include a first main body having an elongated body and a main channel. The main channel may be formed by a portion of an interior surface of the elongated body. The main channel may extend between the proximal and distal ends of the elongated body. The first main body may include an instrument gate secured at a proximal end of the main channel. The instrument gate may include an expandable opening configured to be in a persistently closed position. The expandable opening may be configurable to adaptively expand to a shape of a cross-section of a surgical arm when the surgical arm is inserted through the expandable opening.

A surgical retractor tool includes an atraumatic device, and anchor, and a connector coupled at a first end to the atraumatic device and coupled at a second, opposite end to the anchor. The atraumatic device is transformable between a transition configuration, in which the atraumatic device is characterized by a substantially linear shape, and a deployed configuration, in which the atraumatic device is characterized by a non-linear shape. The non-linear shape is configured to releasably engage a first anatomical portion of a patient. The anchor is configured to be releasably secured to a second anatomical portion of the patient. In the transition configuration, the surgical retractor tool is characterized by a substantially linear shape defined along a longitudinal axis extending from an end of the anchor to an end of the atraumatic device.

A percutaneous access device for use in minimally invasive surgery includes an elongated body having a proximal portion and an opposing distal portion. The proximal portion has a proximal bore extending therethrough and the distal portion has a distal bore extending therethrough. The distal portion of the body is hingedly connected to the proximal portion in a first percutaneous access position and a second anchoring position. In the first percutaneous access position the distal and proximal bores are linearly aligned when a surgical instrument is inserted into both the proximal and distal bores. In the second anchoring position the distal bore is angularly displaced from the proximal bore when the surgical instrument is removed from the distal bore.

A surgical kit includes a cannula assembly and a camera assembly. The cannula assembly includes a cannula housing and a cannula member extending from the cannula housing. The cannula member defines a channel therethrough. The camera assembly includes an insertion member including an elongate shaft including a supporting member extending proximally from a distal end portion of the elongate shaft, and a camera detachably supported on a proximal end portion of the supporting member of the insertion member. The camera is configured to be coupled to an outer surface of the cannula. The camera and the insertion member are dimensioned to be received through the channel of the cannula member.

A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.

Devices, systems, and methods for providing remote traction to tissue may include a grasper and a control element. The grasper may have a first jaw, a second jaw, a main body, and a first magnetic element. The control element may include a second magnetic element. The first and second magnetic elements may attract the grasper to the control element such that the grasper is oriented parallel, perpendicularly, or at an angle between parallel and perpendicular with respect to the control element and/or a body. In some instances, the grasper may include first and second magnetic elements and the control element may include third and fourth magnetic elements.

Example embodiments relate generally to surgical systems. The system may include a first arm assembly having a first arm assembly body. The system may also include a distal elbow joint assembly secured to a proximal end of the first arm assembly. The distal elbow joint assembly may be configurable to provide the first arm assembly with a first degree of freedom relative to a first axis. The system may also include a proximal elbow joint assembly secured to the distal elbow joint assembly. The proximal elbow joint assembly may be configurable to provide the first arm assembly with a second degree of freedom relative to a second axis. The second axis may be different from the first axis. The first degree of freedom may be different from the second degree of freedom.

The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.

The various embodiments herein relate to systems, devices, and/or methods relating to surgical procedures, and more specifically for accessing an insufflated cavity of a patient and/or positioning surgical systems or devices into the cavity.