A method includes receiving, from a primary pressure sensor, a pressure measurement indicative of a pressure of a patient cavity and controlling, by an insufflator, a supply of the insufflation fluid to the patient cavity based on the pressure measurement from the primary pressure sensor. The method further includes delivering, by a trocar, the supplied insufflation fluid to the patient cavity via an access port, wherein: the access port comprises a seal and a retractor； and the access port facilitates access therethrough to the patient cavity.
