A robotic surgical system, comprising: (a) a robotic surgical device comprising: (i) a device body comprising front and back sides and a distal end and a proximal end; (ii) a first robotic arm; (iii) a second robotic arm; (iv) a first shoulder operably coupled to the distal end of the device body and operably coupled to the first robotic arm, the first shoulder comprising a first joint configured to actuate the first robotic arm about a first axis, the first joint comprising: a first shaft; a first gear pair (136, 137) wherein rotation of the first shaft drives the first gear pair and a second gear pair (138, 139) wherein the first gear pair drives the second gear pair; (v) a second shoulder operably coupled to the distal end of the device body and operably coupled to the second robotic arm, the second shoulder comprising a second joint configured to actuate the second robotic arm about a second axis, the second joint comprising: a second shaft; a third gear pair (136, 137) wherein rotation of the second shaft drives the third gear pair; and a fourth gear pair (138, 139) wherein the third gear pair drives the fourth gear pair and (b) a camera component, comprising a flexible section and a distal imager, wherein the first and second robotic arms are constructed and arranged so as to be positioned on the front or back sides of the body. (a) a robotic surgical device comprising: (i) a device body comprising front and back sides and a distal end and a proximal end; (ii) a first robotic arm; (iii) a second robotic arm; (iv) a first shoulder operably coupled to the distal end of the device body and operably coupled to the first robotic arm, the first shoulder comprising a first joint configured to actuate the first robotic arm about a first axis, the first joint comprising: a first shaft; a first gear pair (136, 137) wherein rotation of the first shaft drives the first gear pair and a second gear pair (138, 139) wherein the first gear pair drives the second gear pair; (v) a second shoulder operably coupled to the distal end of the device body and operably coupled to the second robotic arm, the second shoulder comprising a second joint configured to actuate the second robotic arm about a second axis, the second joint comprising: a second shaft; a third gear pair (136, 137) wherein rotation of the second shaft drives the third gear pair; and a fourth gear pair (138, 139) wherein the third gear pair drives the fourth gear pair and (i) a device body comprising front and back sides and a distal end and a proximal end; (ii) a first robotic arm; (iii) a second robotic arm; (iv) a first shoulder operably coupled to the distal end of the device body and operably coupled to the first robotic arm, the first shoulder comprising a first joint configured to actuate the first robotic arm about a first axis, the first joint comprising: a first shaft; a first gear pair (136, 137) wherein rotation of the first shaft drives the first gear pair and a second gear pair (138, 139) wherein the first gear pair drives the second gear pair; a first shaft; a first gear pair (136, 137) wherein rotation of the first shaft drives the first gear pair and a second gear pair (138, 139) wherein the first gear pair drives the second gear pair; (v) a second shoulder operably coupled to the distal end of the device body and operably coupled to the second robotic arm, the second shoulder comprising a second joint configured to actuate the second robotic arm about a second axis, the second joint comprising: a second shaft; a third gear pair (136, 137) wherein rotation of the second shaft drives the third gear pair; and a fourth gear pair (138, 139) wherein the third gear pair drives the fourth gear pair and a second shaft; a third gear pair (136, 137) wherein rotation of the second shaft drives the third gear pair; and a fourth gear pair (138, 139) wherein the third gear pair drives the fourth gear pair and (b) a camera component, comprising a flexible section and a distal imager, wherein the first and second robotic arms are constructed and arranged so as to be positioned on the front or back sides of the body.