A surgical anchoring system (2100, 2200), comprising: a surgical instrument (2102, 2202) configured for endoluminal access, the surgical instrument having: an outer sleeve (2103, 2203) defining a working channel therethrough, the outer sleeve configured to be at least partially disposed within a first natural body lumen; and a first channel arm (2106, 2206) and a second channel arm (2108, 2208) configured to extend through the working channel, each channel arm having: at least one anchor member (2113, 2115, 2213a-2213e, 2215a-2215e) coupled to the channel arm and configured to move between expanded and unexpanded states,; and at least one control actuator (2106a-2106c, 2108a-2108c, 2206a-2206c, 2208a-2208c) extending along the channel arm and operatively coupled to the at least one anchor member, wherein, when in the expanded state, the at least one anchor member (2113, 2213a-2213e) of the first channel arm is configured to be at least partially disposed within a second natural body lumen, the second natural body lumen being in communication with the first natural body lumen, wherein, when in the expanded state, the at least one anchor member (2115, 2215a-2215e) of the second channel arm is configured to be at least partially disposed within a third natural body lumen, the second natural body lumen being in communication with the first natural body lumen, the control actuators being operatively coupled to a drive system that is configured to control motion of the first and second channel arms to selectively manipulate an organ associated with the first, second and third natural body lumens. a surgical instrument (2102, 2202) configured for endoluminal access, the surgical instrument having: an outer sleeve (2103, 2203) defining a working channel therethrough, the outer sleeve configured to be at least partially disposed within a first natural body lumen; and a first channel arm (2106, 2206) and a second channel arm (2108, 2208) configured to extend through the working channel, each channel arm having: at least one anchor member (2113, 2115, 2213a-2213e, 2215a-2215e) coupled to the channel arm and configured to move between expanded and unexpanded states,; and at least one control actuator (2106a-2106c, 2108a-2108c, 2206a-2206c, 2208a-2208c) extending along the channel arm and operatively coupled to the at least one anchor member, an outer sleeve (2103, 2203) defining a working channel therethrough, the outer sleeve configured to be at least partially disposed within a first natural body lumen; and a first channel arm (2106, 2206) and a second channel arm (2108, 2208) configured to extend through the working channel, each channel arm having: at least one anchor member (2113, 2115, 2213a-2213e, 2215a-2215e) coupled to the channel arm and configured to move between expanded and unexpanded states,; and at least one control actuator (2106a-2106c, 2108a-2108c, 2206a-2206c, 2208a-2208c) extending along the channel arm and operatively coupled to the at least one anchor member, at least one anchor member (2113, 2115, 2213a-2213e, 2215a-2215e) coupled to the channel arm and configured to move between expanded and unexpanded states,; and at least one control actuator (2106a-2106c, 2108a-2108c, 2206a-2206c, 2208a-2208c) extending along the channel arm and operatively coupled to the at least one anchor member, wherein, when in the expanded state, the at least one anchor member (2113, 2213a-2213e) of the first channel arm is configured to be at least partially disposed within a second natural body lumen, the second natural body lumen being in communication with the first natural body lumen, wherein, when in the expanded state, the at least one anchor member (2115, 2215a-2215e) of the second channel arm is configured to be at least partially disposed within a third natural body lumen, the second natural body lumen being in communication with the first natural body lumen, the control actuators being operatively coupled to a drive system that is configured to control motion of the first and second channel arms to selectively manipulate an organ associated with the first, second and third natural body lumens.