A robotic device, comprising: (a) a device body configured to be positioned at least partially within a body cavity of a patient through an incision, the device body comprising: (i) a motor housing comprising a first motor and a second motor; (ii) a gear housing comprising: a first gear positioned at a distal end of the gear housing, the first gear operably coupled to the first motor; and a second gear (60B-2) positioned at a distal end of the gear housing, the second gear operably coupled to the second motor; (b) a first arm (20/30) operably coupled to the first gear at a first shoulder joint, wherein the first shoulder joint is positioned substantially within a longitudinal cross-section of the device body, the first arm comprising: (i) a first upper arm segment (20A/30A) comprising a first arm motor housing and a first local control board disposed within the first arm motor housing; (ii) a first forearm segment (20B/30B); (iii) a first end effector; and (iv) at least two first arm motors (142, 143, 206, 208) disposed within the first arm motor housing and operably connected to the first local control board; and (c) a second arm (20/30) operably coupled to the second gear at a second shoulder joint, wherein the second shoulder joint is positioned substantially within the longitudinal cross-section of the device body, the second arm comprising: (i) a second upper arm segment (20A/30A) comprising a second arm motor housing and a second local control board disposed within the second arm motor housing; (ii) a second forearm segment (20B/30B); (iii) a second end effector; and (iv) at least two second arm motors (142, 143, 206, 208) disposed within the second arm motor housing and operably connected to the second local control board. (a) a device body configured to be positioned at least partially within a body cavity of a patient through an incision, the device body comprising: (i) a motor housing comprising a first motor and a second motor; (ii) a gear housing comprising: a first gear positioned at a distal end of the gear housing, the first gear operably coupled to the first motor; and a second gear (60B-2) positioned at a distal end of the gear housing, the second gear operably coupled to the second motor; (i) a motor housing comprising a first motor and a second motor; (ii) a gear housing comprising: a first gear positioned at a distal end of the gear housing, the first gear operably coupled to the first motor; and a second gear (60B-2) positioned at a distal end of the gear housing, the second gear operably coupled to the second motor; a first gear positioned at a distal end of the gear housing, the first gear operably coupled to the first motor; and a second gear (60B-2) positioned at a distal end of the gear housing, the second gear operably coupled to the second motor; (b) a first arm (20/30) operably coupled to the first gear at a first shoulder joint, wherein the first shoulder joint is positioned substantially within a longitudinal cross-section of the device body, the first arm comprising: (i) a first upper arm segment (20A/30A) comprising a first arm motor housing and a first local control board disposed within the first arm motor housing; (ii) a first forearm segment (20B/30B); (iii) a first end effector; and (iv) at least two first arm motors (142, 143, 206, 208) disposed within the first arm motor housing and operably connected to the first local control board; and (i) a first upper arm segment (20A/30A) comprising a first arm motor housing and a first local control board disposed within the first arm motor housing; (ii) a first forearm segment (20B/30B); (iii) a first end effector; and (iv) at least two first arm motors (142, 143, 206, 208) disposed within the first arm motor housing and operably connected to the first local control board; and (c) a second arm (20/30) operably coupled to the second gear at a second shoulder joint, wherein the second shoulder joint is positioned substantially within the longitudinal cross-section of the device body, the second arm comprising: (i) a second upper arm segment (20A/30A) comprising a second arm motor housing and a second local control board disposed within the second arm motor housing; (ii) a second forearm segment (20B/30B); (iii) a second end effector; and (iv) at least two second arm motors (142, 143, 206, 208) disposed within the second arm motor housing and operably connected to the second local control board. (i) a second upper arm segment (20A/30A) comprising a second arm motor housing and a second local control board disposed within the second arm motor housing; (ii) a second forearm segment (20B/30B); (iii) a second end effector; and (iv) at least two second arm motors (142, 143, 206, 208) disposed within the second arm motor housing and operably connected to the second local control board.