A surgical system comprising: a first robotic manipulator; a first cannula comprising a proximal end, a distal end, and a rigid curved section between the proximal and distal ends, wherein the proximal end of the first cannula is configured to couple to the first robotic manipulator; a first surgical instrument comprising a flexible shaft that is configured to extend through and beyond the distal end of the first cannula; a second robotic manipulator; a second cannula comprising a proximal end, a distal end, and a rigid curved section between the proximal and distal ends, wherein the proximal end of the second cannula is configured to couple to the second robotic manipulator; and a second surgical instrument comprising a flexible shaft that is configured to extend through and beyond the distal end of the second cannula; wherein, during use, the first and second cannulas (416a, 416b) are each configured to extend through a single opening in a patient's body in a direction away from a line that extends between the opening in the patient's body and a surgical site within the patient's body, and wherein, during use, the curved sections (422a, 422b) of the first and second cannulas (416a, 416b) are each configured to arc within the patient's body towards the surgical site and direct distal ends of their respective associated first and second surgical instruments (402a, 402b) towards the surgical site; and wherein the first robotic manipulator is configured to move the first cannula around a first center of motion, wherein the second robotic manipulator is configured to move the second cannula around a second center of motion, wherein, during use, the first and second centers of motion are positioned proximate to one another at the opening in the patient's body, and wherein movement of the first and second cannulas (416a, 416b) by their respective associated first and second robotic manipulators (204a, 204b) around their respective first and second centers of motion is independent of one another. a first robotic manipulator; a first cannula comprising a proximal end, a distal end, and a rigid curved section between the proximal and distal ends, wherein the proximal end of the first cannula is configured to couple to the first robotic manipulator; a first surgical instrument comprising a flexible shaft that is configured to extend through and beyond the distal end of the first cannula; a second robotic manipulator; a second cannula comprising a proximal end, a distal end, and a rigid curved section between the proximal and distal ends, wherein the proximal end of the second cannula is configured to couple to the second robotic manipulator; and a second surgical instrument comprising a flexible shaft that is configured to extend through and beyond the distal end of the second cannula; wherein, during use, the first and second cannulas (416a, 416b) are each configured to extend through a single opening in a patient's body in a direction away from a line that extends between the opening in the patient's body and a surgical site within the patient's body, and wherein, during use, the curved sections (422a, 422b) of the first and second cannulas (416a, 416b) are each configured to arc within the patient's body towards the surgical site and direct distal ends of their respective associated first and second surgical instruments (402a, 402b) towards the surgical site; and wherein the first robotic manipulator is configured to move the first cannula around a first center of motion, wherein the second robotic manipulator is configured to move the second cannula around a second center of motion, wherein, during use, the first and second centers of motion are positioned proximate to one another at the opening in the patient's body, and wherein movement of the first and second cannulas (416a, 416b) by their respective associated first and second robotic manipulators (204a, 204b) around their respective first and second centers of motion is independent of one another.