Abstract: An articulating arm for a robotic surgical instrument system includes arm elements, an elongate support element, end effectors and a wrist joint. The arm elements are joined by a first pitch joint. The elongate support element is connected at one end thereof to a first arm element by a second pitch joint and other end of the elongate support element is connected to a support structure and is functionally coupled to a control. The elongate support element, arm elements, pitch joints and end effectors are linearly inserted via an aperture of a port into an operation site and once inserted are articulated and moved to perform a single port procedure with at least seven axes of movement. The robotic surgical instrument system includes a pair of articulating arms, a control and a resilient access port.