Some embodiments of the system described herein provide transvesical access to a body cavity (e.g., the peritoneum, the bladder, the ureter, the renal pelvis, or the retroperitoneum). For example, such a transvesical approach may provide access to the peritoneal cavity through an opening formed in the bladder wall or other structures in the urinary tract (e.g., ureter, renal pelvis, or the like). Thus, the transvesical approach through the bladder wall permits a surgeon to examine, conduct surgical or therapeutic procedures, or a combination thereof inside peritoneal cavity. Further, the transvesical access to the peritoneal cavity or another body cavity provides the opportunity to use flexible or rigid endoscopes, depending upon the procedure being performed.