A robotic actuator includes an internal anchor and an instrument. The internal anchor is adapted to be inserted into a body via an entrance port positioned inside the body and magnetically coupled with an external anchor positioned outside the body. The instrument is adapted to be inserted into the body via the entrance port and secured to the internal anchor. The instrument includes an end effector having multiple degrees of movement via multiple axes and a plurality of actuators that provide the multiple degrees of movement. A surgical system includes a manipulator an implantable actuator and a controller. The manipulator includes a plurality of integrated sensor/actuators. The sensors of the sensor/actuators are adapted to detect movement about a plurality of axes of movement. The implantable actuator includes a plurality ofjoints providing a plurality of axes of movement. The controller is configured to receive information from the plurality of sensor/actuators that indicates movement of the manipulator about the plurality of axes and to cause the joints of the actuator to move along corresponding axes of movement. Each sensor/actuator of the manipulator detects movement about an axis of movement corresponding to a similar one of the joints of the actuator.
