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

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.

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.