Systems, devices, and methods for providing insertable robotic sensory and manipulation platforms for single port surgery

A foldable insertable robotic surgical device comprising:

• an elongated cylindrical lumen having a distal end and a proximal end;
• a plurality of flexible stems housed within the lumen prior to deployment and connected to the proximal end of the lumen;
• a plurality of deployable continuum robots housed within the lumen prior to deployment, connected to the plurality of flexible stems, and each having a proximal end and a distal end;
• a single degree of freedom axial wrist positioned at the distal end of each of the continuum robots;
• a gripper positioned at the end of each axial wrist;
• a radial extension structure spanning the proximal and distal ends of each flexible stem, wherein the radial extension structure is housed within the lumen prior to deployment and provides radial separation between the plurality of continuum robots when in a deployed state;
• and
• a stereo vision module comprising a pair of charge coupled device (CCD) cameras housed within the lumen prior to deployment.