A surgical system comprising: a port assembly, the port assembly being an elongated structure, the port assembly having a central access channel formed through the port assembly between proximal and distal ends of the elongated structure, the port assembly having a plurality of anchor ports; an instrument arm assembly, the instrument arm assembly having: a shoulder section securable to a first anchor port of the port assembly; a first arm section secured to the shoulder section; an elbow section secured to the first arm section; a second arm section secured to the elbow section; a wrist section secured to the second arm section; and an end effector section secured to the wrist section, the end effector section having an end effector; and an image capturing assembly, the image capturing assembly including an image capturing device and a multi-curvable body; characterized in that the central access channel and the elongated structure of the port assembly have a common central axis; the multi-curvable body is an elongated structure having a proximal end securable to a second anchor port of the port assembly and a distal end connected to the image capturing device, the multi-curvable body having multiple regions along its elongated structure, each of the multiple regions along the elongated structure of the multi-curvable body being separately controllable to adjust in shape from a shape resembling a continuously straight line to a shape resembling a continuously curved line; wherein the port assembly is configured in such a way that the central access channel enables the instrument arm assembly and the image capturing assembly to be inserted through the central access channel and secured to the first anchor port and second anchor port, respectively, after being inserted through the central access channel; and wherein each of the multiple regions along the elongated structure of the multi-curvable body is configurable to adjust in shape to have a curvature selected from a plurality of different selectable curvatures and a direction of curvature selected from a plurality of different selectable directions. a port assembly, the port assembly being an elongated structure, the port assembly having a central access channel formed through the port assembly between proximal and distal ends of the elongated structure, the port assembly having a plurality of anchor ports; an instrument arm assembly, the instrument arm assembly having: a shoulder section securable to a first anchor port of the port assembly; a first arm section secured to the shoulder section; an elbow section secured to the first arm section; a second arm section secured to the elbow section; a wrist section secured to the second arm section; and an end effector section secured to the wrist section, the end effector section having an end effector; and a shoulder section securable to a first anchor port of the port assembly; a first arm section secured to the shoulder section; an elbow section secured to the first arm section; a second arm section secured to the elbow section; a wrist section secured to the second arm section; and an end effector section secured to the wrist section, the end effector section having an end effector; and an image capturing assembly, the image capturing assembly including an image capturing device and a multi-curvable body; characterized in that the central access channel and the elongated structure of the port assembly have a common central axis; the multi-curvable body is an elongated structure having a proximal end securable to a second anchor port of the port assembly and a distal end connected to the image capturing device, the multi-curvable body having multiple regions along its elongated structure, each of the multiple regions along the elongated structure of the multi-curvable body being separately controllable to adjust in shape from a shape resembling a continuously straight line to a shape resembling a continuously curved line; wherein the port assembly is configured in such a way that the central access channel enables the instrument arm assembly and the image capturing assembly to be inserted through the central access channel and secured to the first anchor port and second anchor port, respectively, after being inserted through the central access channel; and wherein each of the multiple regions along the elongated structure of the multi-curvable body is configurable to adjust in shape to have a curvature selected from a plurality of different selectable curvatures and a direction of curvature selected from a plurality of different selectable directions.