Port assembly for use with robotic devices and systems to perform single incision procedures and natural orifice translumenal endoscopic surgical procedures

Example embodiments relate to surgical devices, systems, and methods. The system may include a port assembly. The port assembly may be for use with a surgical arm assembly having a surgical arm and elongated anchor section. The port assembly may include a first main body having an elongated body and a main channel. The main channel may be formed by a portion of an interior surface of the elongated body. The main channel may extend between the proximal and distal ends of the elongated body. The first main body may include an instrument gate secured at a proximal end of the main channel. The instrument gate may include an expandable opening configured to be in a persistently closed position. The expandable opening may be configurable to adaptively expand to a shape of a cross-section of a surgical arm when the surgical arm is inserted through the expandable opening.