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 (60B-2) 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 (60B-2) operably coupled to the second motor; (b) a first arm operably coupled to the first gear (60B-2), wherein the first arm comprises: (i) a first upper arm (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 (20B/30B), (iii) a first end effector, (iv) at least two first arm motors disposed within the first arm motor housing, and operably coupled to the first local control board, wherein the first upper arm (20A/30A) and the first forearm (20B/30B) are collinear when the first arm is extended in the straight configuration, and wherein the first arm is positioned substantially within a longitudinal cross-section of the device body when the first arm is extended in a straight configuration; and (c) a second arm operably coupled to the second gear (60B-2), wherein the second arm comprises: (i) a second upper arm (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 (20B/30B), (iii) a second end effector, (iv) at least two second arm motors disposed within the second arm motor housing, and operably coupled to the second local control board, wherein the second upper arm (20A/30A) and the second forearm (20B/30B) are collinear when the second arm is extended in the straight configuration, and wherein the second arm is positioned substantially within the longitudinal cross-section of the device body when the second arm is extended in a straight configuration. (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 (60B-2) 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 (60B-2) 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 (60B-2) 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 (60B-2) operably coupled to the second motor; a first gear (60B-2) 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 (60B-2) operably coupled to the second motor; (b) a first arm operably coupled to the first gear (60B-2), wherein the first arm comprises: (i) a first upper arm (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 (20B/30B), (iii) a first end effector, (iv) at least two first arm motors disposed within the first arm motor housing, and operably coupled to the first local control board, wherein the first upper arm (20A/30A) and the first forearm (20B/30B) are collinear when the first arm is extended in the straight configuration, and wherein the first arm is positioned substantially within a longitudinal cross-section of the device body when the first arm is extended in a straight configuration; and (i) a first upper arm (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 (20B/30B), (iii) a first end effector, (iv) at least two first arm motors disposed within the first arm motor housing, and operably coupled to the first local control board, (c) a second arm operably coupled to the second gear (60B-2), wherein the second arm comprises: (i) a second upper arm (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 (20B/30B), (iii) a second end effector, (iv) at least two second arm motors disposed within the second arm motor housing, and operably coupled to the second local control board, wherein the second upper arm (20A/30A) and the second forearm (20B/30B) are collinear when the second arm is extended in the straight configuration, and wherein the second arm is positioned substantially within the longitudinal cross-section of the device body when the second arm is extended in a straight configuration. (i) a second upper arm (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 (20B/30B), (iii) a second end effector, (iv) at least two second arm motors disposed within the second arm motor housing, and operably coupled to the second local control board,