A robotic surgical system , comprising: a. a device body constructed and arranged to be positioned at least partially within a body cavity of a patient through an incision, the device body comprising: i. a first robotic surgical arm operably coupled to the device body and comprising a first end effector ; ii. a second robotic surgical arm operably coupled to the device body and comprising a second end effector ; iii. a camera lumen defined in the device body; b. a positionable camera having an articulating tip and constructed and arranged to extend from the camera lumen to provide views of the first and second end effectors within the body cavity; and c. a surgical console comprising a processor constructed and arranged to execute an algorithm to position the positionable camera, wherein the processor is configured to establish a robot reference frame {R} and a camera reference frame {C}, the robot reference frame being established relative to the device body and defined by orthogonal unit vectors x R , y R , and z R , the camera reference frame being established relative to the articulating tip and defined by orthogonal unit vectors x c , y c , and z c , the camera reference frame having an origin X c defined at an intersection of the orthogonal unit vectors x c , y c , and z c of the camera reference frame, and wherein the processor is configured to define location P L of the first end effector and location P R of the second end effector, wherein the processor is further configured to establish Midpoint P L P R at a midpoint between P L and P R , and wherein the algorithm, when executed, positions the positionable camera to align the origin of the camera reference frame with Midpoint P L P R . a. a device body constructed and arranged to be positioned at least partially within a body cavity of a patient through an incision, the device body comprising: i. a first robotic surgical arm operably coupled to the device body and comprising a first end effector ; ii. a second robotic surgical arm operably coupled to the device body and comprising a second end effector ; iii. a camera lumen defined in the device body; i. a first robotic surgical arm operably coupled to the device body and comprising a first end effector ; ii. a second robotic surgical arm operably coupled to the device body and comprising a second end effector ; iii. a camera lumen defined in the device body; b. a positionable camera having an articulating tip and constructed and arranged to extend from the camera lumen to provide views of the first and second end effectors within the body cavity; and c. a surgical console comprising a processor constructed and arranged to execute an algorithm to position the positionable camera, wherein the processor is configured to establish a robot reference frame {R} and a camera reference frame {C}, the robot reference frame being established relative to the device body and defined by orthogonal unit vectors x R , y R , and z R , the camera reference frame being established relative to the articulating tip and defined by orthogonal unit vectors x c , y c , and z c , the camera reference frame having an origin X c defined at an intersection of the orthogonal unit vectors x c , y c , and z c of the camera reference frame, and wherein the processor is configured to define location P L of the first end effector and location P R of the second end effector, wherein the processor is further configured to establish Midpoint P L P R at a midpoint between P L and P R , and wherein the algorithm, when executed, positions the positionable camera to align the origin of the camera reference frame with Midpoint P L P R . <EOS>