| 摘要 |
Devices, systems, and methods for performing a surgical action. The system (200) may comprise a port assembly (210) and instrument arm assembly (230). The port assembly (210) may include a central access channel (210a) formed through the port assembly (210) and plurality of anchor ports (216). The instrument arm assembly (230) may include a shoulder section (231) securable to a first anchor port (216), a first arm section (233) secured to the shoulder section (231), an elbow section (234) secured to the first arm section (233), a second arm section (235) secured to the elbow section (234), wrist section (236) secured to the second arm section (235), and an end effector section (239) secured to the wrist section (236). The image capturing assembly (220) may include an image capturing device (224) and a multi-curvable body (222). The multi-curvable body (222) may be configurable to curve at one or more locations along the multi-curvable body (222), in one or more of a plurality of curvatures, and in one or more of a plurality of directions. |
