A modular robotic surgical system for minimally invasive surgery which includes a modular robot with two arms that include segments which can rotate axially. The two arms can hold an operational tool such as a lighting component, cauterizing component, suturing component, etc. The modular robot is placed in vivo of a patient through a port and supported by a support rod which transverses the port. The robot can also be assembled within the patient. The support rod and the port allow control of the robot from outside of the patient's body.Les modes de réalisation de l'invention concernent divers composants de dispositifs médicaux, notamment des composants qui peuvent être incorporés dans des dispositifs médicaux robotiques et/ou in vivo. Certains modes de réalisation comprennent divers dispositifs médicaux modulaires pour des procédures médicales in vivo.
