Single Access Surgical Robotic Devices and Systems, and Methods of Configuring Single Access Surgical Robotic Devices and Systems

Abstract

Example embodiments relate to surgical systems. The surgical system includes a port assembly and instrument arm assembly. The port assembly includes a central access channel, anchoring portions, and anchor channels. The instrument arm assembly includes a shoulder section, first arm section, shoulder joint portion, elbow joint portion, second arm section, wrist section, end instrument, and instrument arm anchor segment. The instrument arm anchor segment includes an anchor body and instrument arm anchor portion. The anchor body is secured to the shoulder section. The anchor body is inserted through one of the anchor channels. The instrument arm anchor portion secures to one of the anchoring portions when the anchor body is housed in one of the anchor channels. The central access channel remains as an open access channel through the port assembly when the instrument arm anchor portion is anchored to one of the anchoring portions.

What is claimed is: 
     
         1 . A surgical system, the surgical system comprising:
 a port assembly, the port assembly including:
 an elongated tubular body; 
 a central access channel, the central access channel formed as an open access channel through the elongated tubular body, the central access channel forming a first central axis; 
 a plurality of anchoring portions; and 
 a plurality of anchor channels formed around the central access channel, each anchor channel forming a central axis parallel to the first central axis of the central access channel; 
   an instrument arm assembly, the instrument arm assembly having a serial arrangement including:
 a shoulder section, the shoulder section having a first end and a second end; 
 a first arm section, the first arm section having a first end and a second end; 
 a shoulder joint portion, the shoulder joint portion connecting the second end of the shoulder section to the first end of the first arm section; 
 an elbow joint portion, the elbow joint portion having a first end and a second end, the first end of the elbow joint portion secured to the second end of the first arm section; 
 a second arm section, the second arm section having a first end and a second end, the first end of the second arm section secured to the second end of the elbow joint portion; 
 a wrist section, the wrist section having a first end and a second end, the first end of the wrist section secured to the second end of the second arm section; 
 at least one end instrument connected to the second end of the wrist section; and 
 an instrument arm anchor segment, the instrument arm anchor segment having:
 an instrument arm anchor body, the instrument arm anchor body having a first end and a second end, the second end of the instrument arm anchor body secured to the first end of the shoulder section, the instrument arm anchor body configured to be inserted through one of the anchor channels of the port assembly; and 
 an instrument arm anchor portion, the instrument arm anchor portion provided at the first end of the instrument arm anchor body, the instrument arm anchor portion configured to secure to one of the anchoring portions of the port assembly when the instrument arm anchor body is housed in one of the anchor channels of the port assembly; 
 wherein the instrument arm anchor body is formed in such a way that the central access channel of the port assembly remains as an open access channel through the elongated tubular body of the port assembly when the instrument arm anchor portion is anchored to one of the anchoring portions of the port assembly. 
 
   
     
     
         2 . The surgical system of  claim 1 ,
 wherein the instrument arm anchor body is formed in such a way that the central access channel of the port assembly remains as an open access channel through the elongated tubular body of the port assembly when the instrument arm anchor body is housed in one of the anchor channels of the port assembly.   
     
     
         3 . The surgical system of  claim 1 ,
 wherein, when the central access channel of the port assembly remains as an open access channel through the elongated tubular body of the port assembly, a clear path through the central access channel of the port assembly remains available for insertion of other instrument arm assemblies.   
     
     
         4 . The surgical system of  claim 1 ,
 wherein the instrument arm assembly is configured to provide at least seven in vivo degrees of freedom, wherein the at least seven in vivo degrees of freedom include:
 a movement of the first arm section relative to a shoulder central axis, the shoulder central axis being a central axis formed through the shoulder section; 
 a movement of the first arm section relative to an axis formed by the shoulder joint portion, the axis formed by the shoulder joint portion being different from the shoulder central axis; 
 a movement of the first arm section relative to a first arm central axis, the first arm central axis being a central axis formed through the first arm section, the movement of the first arm section being a rotational movement of the first arm section relative to the first arm central axis; 
 a movement of the second arm section relative to an axis formed by the elbow joint portion, the axis formed by the elbow joint portion being different from the first arm central second axis; 
 a movement of the wrist section relative to a second arm central axis, the second arm central axis being a central axis formed through the second arm section; 
 a movement of the end instrument relative to an axis formed by the wrist section, the axis formed by the wrist section being different from the second arm central axis; and 
 a movement of the end instrument relative to an axis formed by an end instrument joint portion, the end instrument joint portion being a joint connecting the end instrument to second end of the wrist section, the axis formed by the end instrument joint portion being different from the axis formed by the wrist joint portion. 
   
     
     
         5 . The surgical device of  claim 1 , wherein at least one of the following apply:
 the shoulder joint portion, elbow joint portion, wrist section, and end instrument are each independently controllable;   each of the at least seven in vivo degrees of freedom is independently controllable by a computing device; and   the port assembly is fixably positionable in at least a portion of an opening of a patient in one of a plurality of positions via an external anchor, wherein the external anchor is configurable to provide at least one in vitro degree of freedom; wherein at least one of the in vitro degrees of freedom is a torsional movement or a pivotal movement relative to the external anchor.   
     
     
         6 . The surgical device of  claim 1 ,
 wherein the port assembly further comprises an outer body and an inner body;   wherein the inner body is configurable to insert into and attach to the outer body; and   wherein the outer body includes:
 a first end fixably positionable in at least a portion of an opening of a patient in one of a plurality of positions; and 
 a second end operable to attach to an external anchor. 
   
     
     
         7 . The surgical device of  claim 1 , further comprising a second instrument arm assembly, the second instrument arm assembly configured to insert through the central access channel, the second instrument arm assembly having a serial arrangement including:
 a shoulder section, the shoulder section of the second instrument arm assembly having a first end and a second end;   a first arm section, the first arm section of the second instrument arm assembly having a first end and a second end;   a shoulder joint portion, the shoulder joint portion of the second instrument arm assembly connecting the second end of the shoulder section of the second instrument arm assembly to the first end of the first arm section of the second instrument arm assembly;   an elbow joint portion, the elbow joint portion of the second instrument arm assembly having a first end and a second end, the first end of the elbow joint portion of the second instrument arm assembly secured to the second end of the first arm section of the second instrument arm assembly;   a second arm section, the second arm section of the second instrument arm assembly having a first end and a second end, the first end of the second arm section of the second instrument arm assembly secured to the second end of the elbow joint portion of the second instrument arm assembly;   a wrist section, the wrist section of the second instrument arm assembly having a first end and a second end, the first end of the wrist section of the second instrument arm assembly secured to the second end of the second arm section of the second instrument arm assembly;   at least one end instrument connected to the second end of the wrist section of the second instrument arm assembly; and   an instrument arm anchor segment, the instrument arm anchor segment of the second instrument arm assembly having:
 an instrument arm anchor body, the instrument arm anchor body of the second instrument arm assembly having a first end and a second end, the second end of the instrument arm anchor body of the second instrument arm assembly secured to the first end of the shoulder section of the second instrument arm assembly, the instrument arm anchor body of the second instrument arm assembly configured to be inserted through one of the anchor channels of the port assembly; and 
 an instrument arm anchor portion, the instrument arm anchor portion of the second instrument arm assembly provided at the first end of the instrument arm anchor body of the second instrument arm assembly, the instrument arm anchor portion of the second instrument arm assembly configured to secure to one of the anchoring portions of the port assembly when the instrument arm anchor body of the second instrument arm assembly is housed in one of the anchor channels of the port assembly; 
 wherein the instrument arm anchor body of the second instrument arm assembly is formed in such a way that the central access channel of the port assembly remains as an open access channel through the elongated tubular body of the port assembly when the instrument arm anchor portion of the second instrument arm assembly is anchored to one of the anchoring portions of the port assembly. 
   
     
     
         8 . The surgical device of  claim 1 , wherein at least one of the following apply:
 the surgical device further comprises one or more additional instrument arm assemblies, wherein each additional instrument arm assembly comprises a serial arrangement including a plurality of arm segments, a plurality of joint portions, and at least one end instrument attached to one of the arm segments by an instrument joint portion at a distal end, wherein each joint portion is configurable to provide an attached arm segment with at least one degree of freedom, wherein the instrument joint portion is configurable to provide the end instrument with at least one degree of freedom, and wherein each of the one or more additional instrument arm assemblies is configurable to insert into the access port and attach to one of the anchoring portions;   the instrument arm assembly is further configured to provide a force and/or haptic feedback to a computing device; and   a length of the first arm section and/or second arm section is variably adjustable in response to a command from a computing device; and   at least one operation of the instrument arm assembly is controllable via wired and/or wireless communication from a computing device.   
     
     
         9 . The surgical device of  claim 1 ,
 wherein an outer diameter of the port assembly is less than or equal to about 22 mm.   
     
     
         10 . The surgical device of  claim 1 , wherein an outer diameter of the instrument arm assembly is less than or equal to about 16 mm. 
     
     
         11 . A surgical system, the surgical system comprising:
 a port assembly, the port assembly including:
 an elongated tubular body having a first end and a second end; 
 a central access channel, the central access channel formed through the elongated tubular body, the central access channel having a circular cross-section, the central access channel forming a first central axis; 
 an anchoring portion formed at the second end of the elongated tubular body; and 
 an anchor channel formed through a portion of an interior wall of the elongated tubular body that forms the central access channel, the anchor channel forming a central axis parallel to the first central axis; 
   an instrument arm assembly, the instrument arm assembly having a serial arrangement including:
 a surgical arm, the surgical arm configured to be inserted through the central access channel of the port assembly, the surgical arm including:
 a shoulder section, the shoulder section having a first end and a second end; 
 a first arm section, the first arm section having a first end and a second end; 
 a shoulder joint portion, the shoulder joint portion connecting the second end of the shoulder section to the first end of the first arm section; 
 an elbow joint portion, the elbow joint portion having a first end and a second end, the first end of the elbow joint portion secured to the second end of the first arm section; 
 a second arm section, the second arm section having a first end and a second end, the first end of the second arm section secured to the second end of the elbow joint portion; 
 a wrist section, the wrist section having a first end and a second end, the first end of the wrist section secured to the second end of the second arm section; and 
 at least one end instrument connected to the second end of the wrist section; and 
 
 an instrument arm anchor segment, the instrument arm anchor segment having:
 an instrument arm anchor body, the instrument arm anchor body having a first end and a second end, the second end of the instrument arm anchor body secured to the first end of the shoulder section, the instrument arm anchor body configured to be inserted through the anchor channel of the port assembly; and 
 an instrument arm anchor portion, the instrument arm anchor portion provided at the first end of the instrument arm anchor body, the instrument arm anchor portion configured to secure to the anchoring portion of the port assembly when the instrument arm anchor body is housed in the anchor channel of the port assembly; 
 wherein the instrument arm anchor body is formed in such a way that the central access channel of the port assembly remains as an open access channel through the elongated tubular body of the port assembly when the instrument arm anchor portion is anchored to the anchoring portion of the port assembly. 
 
   
     
     
         12 . The surgical system of  claim 11 ,
 wherein the instrument arm anchor body is formed in such a way that the central access channel of the port assembly remains as an open access channel through the elongated tubular body of the port assembly when the instrument arm anchor body is housed in the anchor channel of the port assembly.   
     
     
         13 . The surgical system of  claim 11 ,
 wherein, when the central access channel of the port assembly remains as an open access channel through the elongated tubular body of the port assembly, a clear path through the central access channel of the port assembly remains available for insertion of other instrument arm assemblies.   
     
     
         14 . The surgical system of  claim 11 ,
 wherein the instrument arm assembly is configured to provide at least seven in vivo degrees of freedom, wherein each of the at least seven in vivo degrees of freedom is a rotation relative to a linear axis.   
     
     
         15 . The surgical system of  claim 11 ,
 wherein the at least seven in vivo degrees of freedom include:
 a movement of the first arm section relative to a shoulder central axis, the shoulder central axis being a central axis formed through the shoulder section; 
 a movement of the first arm section relative to an axis formed by the shoulder joint portion, the axis formed by the shoulder joint portion being different from the shoulder central axis; 
 a movement of the first arm section relative to a first arm central axis, the first arm central axis being a central axis formed through the first arm section, the movement of the first arm section being a rotational movement of the first arm section relative to the first arm central axis; 
 a movement of the second arm section relative to an axis formed by the elbow joint portion, the axis formed by the elbow joint portion being different from the first arm central second axis; 
 a movement of the wrist section relative to a second arm central axis, the second arm central axis being a central axis formed through the second arm section; 
 a movement of the end instrument relative to an axis formed by the wrist section, the axis formed by the wrist section being different from the second arm central axis; and 
 a movement of the end instrument relative to an axis formed by an end instrument joint portion, the end instrument joint portion being a joint connecting the end instrument to second end of the wrist section, the axis formed by the end instrument joint portion being different from the axis formed by the wrist joint portion. 
   
     
     
         16 . The surgical device of  claim 11 , wherein at least one of the following apply:
 the shoulder joint portion, elbow joint portion, wrist section, and end instrument are each independently controllable;   each of the at least seven in vivo degrees of freedom is independently controllable by a computing device; and   the port assembly is fixably positionable in at least a portion of an opening of a patient in one of a plurality of positions via an external anchor, wherein the external anchor is configurable to provide at least one in vitro degree of freedom, and wherein at least one of the in vitro degrees of freedom is a torsional movement or a pivotal movement relative to the external anchor.   
     
     
         17 . The surgical device of  claim 11 ,
 wherein the port assembly further comprises an outer body and an inner body;   wherein the inner body is configurable to insert into and attach to the outer body; and   wherein the outer body includes:
 a first end fixably positionable in at least a portion of an opening of a patient in one of a plurality of positions; and 
 a second end operable to attach to an external anchor. 
   
     
     
         18 . The surgical device of  claim 11 ,
 wherein the port assembly further includes:
 a second anchoring portion formed at the second end of the elongated tubular body; and 
 a second anchor channel formed through a portion of the interior wall of the elongated tubular body that forms the central access channel, the second anchor channel forming a second central axis parallel to the first central axis; 
   wherein the surgical device further includes a second instrument arm assembly, the second instrument arm assembly configured to insert through the central access channel, the second instrument arm assembly having a serial arrangement including:
 a shoulder section, the shoulder section of the second instrument arm assembly having a first end and a second end; 
 a first arm section, the first arm section of the second instrument arm assembly having a first end and a second end; 
 a shoulder joint portion, the shoulder joint portion of the second instrument arm assembly connecting the second end of the shoulder section of the second instrument arm assembly to the first end of the first arm section of the second instrument arm assembly; 
 an elbow joint portion, the elbow joint portion of the second instrument arm assembly having a first end and a second end, the first end of the elbow joint portion of the second instrument arm assembly secured to the second end of the first arm section of the second instrument arm assembly; 
 a second arm section, the second arm section of the second instrument arm assembly having a first end and a second end, the first end of the second arm section of the second instrument arm assembly secured to the second end of the elbow joint portion of the second instrument arm assembly; 
 a wrist section, the wrist section of the second instrument arm assembly having a first end and a second end, the first end of the wrist section of the second instrument arm assembly secured to the second end of the second arm section of the second instrument arm assembly; 
 at least one end instrument connected to the second end of the wrist section of the second instrument arm assembly; and 
 an instrument arm anchor segment, the instrument arm anchor segment of the second instrument arm assembly having:
 an instrument arm anchor body, the instrument arm anchor body of the second instrument arm assembly having a first end and a second end, the second end of the instrument arm anchor body of the second instrument arm assembly secured to the first end of the shoulder section of the second instrument arm assembly, the instrument arm anchor body of the second instrument arm assembly configured to be inserted through the second anchor channel of the port assembly; and 
 an instrument arm anchor portion, the instrument arm anchor portion of the second instrument arm assembly provided at the first end of the instrument arm anchor body of the second instrument arm assembly, the instrument arm anchor portion of the second instrument arm assembly configured to secure to the second anchoring portion of the port assembly when the instrument arm anchor body of the second instrument arm assembly is housed in the second anchor channel of the port assembly; 
 wherein the instrument arm anchor body of the second instrument arm assembly is formed in such a way that the central access channel of the port assembly remains as an open access channel through the elongated tubular body of the port assembly when the instrument arm anchor portion of the second instrument arm assembly is anchored to the second anchoring portion of the port assembly. 
 
   
     
     
         19 . The surgical device of  claim 16 , wherein at least one of the following apply:
 the surgical device further comprises one or more additional instrument arm assemblies, wherein each additional instrument arm assembly comprises a serial arrangement including a plurality of arm segments, a plurality of joint portions, and at least one end instrument attached to one of the arm segments by an instrument joint portion at a distal end, wherein each joint portion is configurable to provide an attached arm segment with at least one degree of freedom, wherein the instrument joint portion is configurable to provide the end instrument with at least one degree of freedom, and wherein each of the one or more additional instrument arm assemblies is configurable to insert into the access port and attach to one of the anchoring portions;   the instrument arm assembly is further configured to provide a force and/or haptic feedback to a computing device;   a length of the first arm section and/or second arm section is variably adjustable in response to a command from a computing device; and   at least one operation of the instrument arm assembly is controllable via wired and/or wireless communication from a computing device.   
     
     
         20 . The surgical device of  claim 11 ,
 wherein an outer diameter of the instrument arm assembly is less than or equal to about 16 mm.   
     
     
         21 . A surgical system, the surgical system comprising:
 a port assembly, the port assembly including:
 an elongated tubular body having a first end and a second end; 
 a central access channel, the central access channel formed through the elongated tubular body, the central access channel forming a first central axis; and 
 an anchor channel formed through a portion of an interior wall of the elongated tubular body that forms the central access channel, the anchor channel forming a central axis parallel to the first central axis; 
   an instrument arm assembly, the instrument arm assembly having a serial arrangement including:
 a surgical arm, the surgical arm configured to be inserted through the central access channel of the port assembly, the surgical arm including:
 a shoulder section, the shoulder section having a first end and a second end; 
 a first arm section, the first arm section having a first end and a second end; 
 a shoulder joint portion, the shoulder joint portion connecting the second end of the shoulder section to the first end of the first arm section; 
 an elbow joint portion, the elbow joint portion having a first end and a second end, the first end of the elbow joint portion secured to the second end of the first arm section; 
 a second arm section, the second arm section having a first end and a second end, the first end of the second arm section secured to the second end of the elbow joint portion; 
 a wrist section, the wrist section having a first end and a second end, the first end of the wrist section secured to the second end of the second arm section; and 
 at least one end instrument connected to the second end of the wrist section; and 
 
 an instrument arm anchor segment, the instrument arm anchor segment having:
 an instrument arm anchor body, the instrument arm anchor body having a first end and a second end, the second end of the instrument arm anchor body secured to the first end of the shoulder section, the instrument arm anchor body configured to be inserted through the anchor channel of the port assembly; and 
 an instrument arm anchor portion, the instrument arm anchor portion provided at the first end of the instrument arm anchor body, the instrument arm anchor portion configured to secure to the port assembly when the instrument arm anchor body is housed in the anchor channel of the port assembly; 
 wherein the instrument arm anchor body is formed in such a way that the central access channel of the port assembly remains as an open access channel through the elongated tubular body of the port assembly when the instrument arm anchor portion is anchored to the anchoring portion of the port assembly. 
 
   
     
     
         22 . The surgical system of  claim 21 ,
 wherein the instrument arm anchor body is formed in such a way that the central access channel of the port assembly remains as an open access channel through the elongated tubular body of the port assembly when the instrument arm anchor body is housed in the anchor channel of the port assembly.   
     
     
         23 . The surgical system of  claim 21 ,
 wherein, when the central access channel of the port assembly remains as an open access channel through the elongated tubular body of the port assembly, a clear path through the central access channel of the port assembly remains available for insertion of other instrument arm assemblies.   
     
     
         24 . The surgical system of  claim 21 ,
 wherein the instrument arm assembly is configured to provide at least seven in vivo degrees of freedom, wherein each of the at least seven in vivo degrees of freedom is a rotation relative to a linear axis.   
     
     
         25 . The surgical system of  claim 21 ,
 wherein the at least seven in vivo degrees of freedom include:
 a movement of the first arm section relative to a shoulder central axis, the shoulder central axis being a central axis formed through the shoulder section; 
 a movement of the first arm section relative to an axis formed by the shoulder joint portion, the axis formed by the shoulder joint portion being different from the shoulder central axis; 
 a movement of the first arm section relative to a first arm central axis, the first arm central axis being a central axis formed through the first arm section, the movement of the first arm section being a rotational movement of the first arm section relative to the first arm central axis; 
 a movement of the second arm section relative to an axis formed by the elbow joint portion, the axis formed by the elbow joint portion being different from the first arm central second axis; 
 a movement of the wrist section relative to a second arm central axis, the second arm central axis being a central axis formed through the second arm section; 
 a movement of the end instrument relative to an axis formed by the wrist section, the axis formed by the wrist section being different from the second arm central axis; and 
 a movement of the end instrument relative to an axis formed by an end instrument joint portion, the end instrument joint portion being a joint connecting the end instrument to second end of the wrist section, the axis formed by the end instrument joint portion being different from the axis formed by the wrist joint portion. 
   
     
     
         26 . The surgical device of  claim 21 , wherein at least one of the following apply:
 the shoulder joint portion, elbow joint portion, wrist section, and end instrument are each independently controllable;   each of the at least seven in vivo degrees of freedom is independently controllable by a computing device; and   the port assembly is fixably positionable in at least a portion of an opening of a patient in one of a plurality of positions via an external anchor, wherein the external anchor is configurable to provide at least one in vitro degree of freedom, and wherein at least one of the in vitro degrees of freedom is a torsional movement or a pivotal movement relative to the external anchor.   
     
     
         27 . The surgical device of  claim 21 ,
 wherein the port assembly further comprises an outer body and an inner body;   wherein the inner body is configurable to insert into and attach to the outer body; and   wherein the outer body includes:
 a first end fixably positionable in at least a portion of an opening of a patient in one of a plurality of positions; and 
 a second end operable to attach to an external anchor. 
   
     
     
         28 . The surgical device of  claim 21 ,
 wherein the port assembly further includes:
 a second anchor channel formed through a portion of the interior wall of the elongated tubular body that forms the central access channel, the second anchor channel forming a second central axis parallel to the first central axis; 
   wherein the surgical device further includes a second instrument arm assembly, the second instrument arm assembly configured to insert through the central access channel, the second instrument arm assembly having a serial arrangement including:
 a shoulder section, the shoulder section of the second instrument arm assembly having a first end and a second end; 
 a first arm section, the first arm section of the second instrument arm assembly having a first end and a second end; 
 a shoulder joint portion, the shoulder joint portion of the second instrument arm assembly connecting the second end of the shoulder section of the second instrument arm assembly to the first end of the first arm section of the second instrument arm assembly; 
 an elbow joint portion, the elbow joint portion of the second instrument arm assembly having a first end and a second end, the first end of the elbow joint portion of the second instrument arm assembly secured to the second end of the first arm section of the second instrument arm assembly; 
 a second arm section, the second arm section of the second instrument arm assembly having a first end and a second end, the first end of the second arm section of the second instrument arm assembly secured to the second end of the elbow joint portion of the second instrument arm assembly; 
 a wrist section, the wrist section of the second instrument arm assembly having a first end and a second end, the first end of the wrist section of the second instrument arm assembly secured to the second end of the second arm section of the second instrument arm assembly; 
 at least one end instrument connected to the second end of the wrist section of the second instrument arm assembly; and 
 an instrument arm anchor segment, the instrument arm anchor segment of the second instrument arm assembly having:
 an instrument arm anchor body, the instrument arm anchor body of the second instrument arm assembly having a first end and a second end, the second end of the instrument arm anchor body of the second instrument arm assembly secured to the first end of the shoulder section of the second instrument arm assembly, the instrument arm anchor body of the second instrument arm assembly configured to be inserted through the second anchor channel of the port assembly; and 
 an instrument arm anchor portion, the instrument arm anchor portion of the second instrument arm assembly provided at the first end of the instrument arm anchor body of the second instrument arm assembly, the instrument arm anchor portion of the second instrument arm assembly configured to secure to the port assembly when the instrument arm anchor body of the second instrument arm assembly is housed in the second anchor channel of the port assembly; 
 wherein the instrument arm anchor body of the second instrument arm assembly is formed in such a way that the central access channel of the port assembly remains as an open access channel through the elongated tubular body of the port assembly when the instrument arm anchor portion of the second instrument arm assembly is anchored to the second anchoring portion of the port assembly. 
 
   
     
     
         29 . The surgical device of  claim 21 , wherein at least one of the following apply:
 the surgical device further comprises one or more additional instrument arm assemblies, wherein each additional instrument arm assembly comprises a serial arrangement including a plurality of arm segments, a plurality of joint portions, and at least one end instrument attached to one of the arm segments by an instrument joint portion at a distal end, wherein each joint portion is configurable to provide an attached arm segment with at least one degree of freedom, wherein the instrument joint portion is configurable to provide the end instrument with at least one degree of freedom, and wherein each of the one or more additional instrument arm assemblies is configurable to insert into the access port and attach to one of the anchoring portions;   the instrument arm assembly is further configured to provide a force and/or haptic feedback to a computing device;   a length of the first arm section and/or second arm section is variably adjustable in response to a command from a computing device; and   at least one operation of the instrument arm assembly is controllable via wired and/or wireless communication from a computing device.   
     
     
         30 . The surgical device of  claim 21 ,
 wherein an outer diameter of the instrument arm assembly is less than or equal to about 16 mm.