Single access surgical robotic devices and systems, and methods of configuring single access surgical robotic devices and systems

A surgical device comprising:

• a port assembly having:
• an outer body having a first access port, a first end, a second end, and a plurality of anchoring portions, wherein each of the plurality of anchoring portions includes an anchor port at the second end of the outer body;
• an inner body fixably positionable in the first access port of the outer body, the inner body having a second access port, a first end, a second end, and at least one anchoring portion provided at the second end of the inner body, wherein when the inner body is positioned in the first access port of the outer body, the at least one anchoring portion of the inner body is configurable to secure to at least one of the anchor ports of the outer body;
• and
• a plurality of separate internal channels distributedly formed around an exterior of the inner body when the inner body is positioned in the first access port of the outer body, each internal channel formed by an exterior surface of the inner body and an interior surface of the outer body when the inner body is positioned in the first access port of the outer body, each internal channel aligned with one of the anchor ports of the outer body;
• an instrument arm assembly having:
• a first end instrument;
• a first instrument joint portion;
• a first arm segment having a first end and a second end, the first end of the first arm segment attached to the first end instrument via the first instrument joint portion;
• a first elbow joint portion;
• a second arm segment having a first end and a second end, the first end of the second arm segment attached to the second end of the first arm segment via the first elbow joint portion;
• a first shoulder joint portion;
• a first shoulder segment having a first end and a second end, the first end of the first shoulder segment attached to the second end of the second arm segment via the first shoulder joint portion;
• and
• a first instrument arm anchor portion having a first end and a second end, the first end of the first instrument anchor portion attached to the second end of the first shoulder segment;
• wherein one of the internal channels formed by the exterior surface of the inner body and the interior surface of the outer body is configurable to house at least a portion of the first instrument arm anchor portion, wherein the second end of the first instrument arm anchor portion is configurable to secure to one of the anchor ports of the outer body;
• and
• a second instrument arm assembly having:
• a second end instrument;
• a second instrument joint portion;
• a third arm segment having a first end and a second end, the first end of the third arm segment attached to the second end instrument via the second instrument joint portion;
• a second elbow joint portion;
• a fourth arm segment having a first end and a second end, the first end of the fourth arm segment attached to the second end of the third arm segment via the second elbow joint portion;
• a second shoulder joint portion;
• a second shoulder segment having a first end and a second end, the first end of the second shoulder segment attached to the second end of the fourth arm segment via the second shoulder joint portion;
• and
• a second instrument arm anchor portion having a first end and a second end, the first end of the second instrument anchor portion attached to the second end of the second shoulder segment;
• wherein one of the internal channels formed by the exterior surface of the inner body and the interior surface of the outer body is configurable to house at least a portion of the second instrument arm anchor portion, wherein the second end of the second instrument arm anchor portion is configurable to secure to one of the anchor ports of the outer body;
• and
• wherein the port assembly is configurable to allow an insertion of the first instrument arm assembly and the second instrument arm assembly through the first access port of the outer body.