Apparatus for introducing a steerable camera assembly into a patient

A cannula assembly for a surgical trocar assembly, comprising:

• a housing comprising a distal end defining an opening and a proximal end defining an opening, wherein the housing includes a passage therethrough between the opening at the distal end and the opening at the proximal end, wherein the passage defines an axis, wherein the distal end is configured to receive a cannula tube aligned with the opening at the distal end, and wherein the opening at the proximal end is larger than the opening at the distal end;
• a plurality of compliant membranes arranged as a stack disposed in the passage between the distal end and the proximal end, each of the compliant membranes including an aperture, wherein the passage is configured to receive a surgical instrument therethrough, and wherein the surgical instrument is configured to move through the passage to enter a body cavity of a patient to perform a surgical procedure;
• and
• a cannula upper housing defining a sidewall, the cannula upper housing removably attachable to the proximal end of the housing, the cannula upper housing defining a port formed within the sidewall, the port defining an aperture to receive a camera tether through the sidewall, wherein the aperture is configured to substantially seal the camera tether passing therethrough, wherein the port is orthogonal to the axis, wherein the port is proximal to the plurality of compliant membranes, and wherein the passage is configured to receive the camera tether therethrough.