Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems

A surgical system for use in performing a surgical action, the surgical system comprising:

• an end-effector assembly, the end-effector assembly having:
• a surgical instrument;
• and
• a wrist assembly securable to the surgical instrument;
• a first arm assembly securable to the wrist assembly at a distal end of the first arm assembly and securable to an elbow section at a proximal end of the first arm assembly;
• a second arm assembly securable to the elbow section at a distal end of the second arm assembly, the second arm assembly securable to a shoulder section at a proximal end of the second arm assembly via a first joint and a second joint, the second arm assembly having:
• a first shoulder drive assembly housed in the second arm assembly, the first shoulder drive assembly having a first integrated motor and a first shoulder drive portion, wherein the first shoulder drive portion is controllable by the first integrated motor to pivotally move the second arm assembly relative to a first shoulder axis, the first shoulder axis being an axis located at the first joint;
• and
• a second shoulder drive assembly housed in the second arm assembly, the second shoulder drive assembly having a second integrated motor and a second shoulder drive portion, wherein the second shoulder drive portion is controllable by the second integrated motor to pivotally move the second arm assembly relative to a second shoulder axis, the second shoulder axis being an axis located at the second joint, the second shoulder axis being a different axis from the first shoulder axis;
• and
• the shoulder section.

A surgical system for use in performing a surgical action, the surgical system comprising:

• a surgical arm, the surgical arm including:
• an end-effector assembly, the end-effector assembly having:
• a surgical instrument;
• and
• a wrist assembly securable to the surgical instrument;
• a first arm assembly securable to the wrist assembly at a distal end of the first arm assembly and securable to an elbow section at a proximal end of the first arm assembly;
• and
• a second arm assembly, the second arm assembly having:
• a second arm assembly body having a distal end and a proximal end opposite to the first end, the distal end connected to the elbow section;
• and
• a first shoulder drive assembly housed in the second arm assembly body, the first shoulder drive assembly having a first integrated motor and a first shoulder drive portion, wherein the first shoulder drive portion is controllable by the first integrated motor to pivotally move the second arm assembly relative to a first axis;
• a second shoulder drive assembly housed in the second arm assembly body, the second shoulder drive assembly having a second integrated motor and a second shoulder drive portion, wherein the second shoulder drive portion is controllable by the second integrated motor to pivotally move the second arm assembly relative to a second axis, the second axis being a different axis from the first axis;
• and
• an elbow drive assembly housed in the second arm assembly body, the elbow drive assembly having a third integrated motor and an elbow drive portion, wherein the elbow drive portion is controllable by the third integrated motor to pivotally move the first arm assembly relative to the elbow section;
• and
• a port assembly, the port assembly having an elongated body with a channel through the elongated body, the channel configurable to allow the surgical arm to pass through the port assembly, the port assembly further including an anchor port configurable to secure the to the port assembly.