A surgical robotic access system providing instrument access into a patient's body, the surgical robotic access system comprising: a surgical robotic access platform having a proximal portion disposed externally to a patient's body and a distal portion positioned within a patient's body, the proximal portion of the surgical robotic access platform including a flexible seal; and a robotic sheath having a proximal end and a distal end insertable through the flexible seal of the surgical robotic access platform, the robotic sheath having an expandable cover disposed at the distal end of the robotic sheath and defining a cavity having proximal opening and a distal opening and through which a surgical robotic manipulator is insertable therethrough, characterized in that the expandable cover, while in a closed position, covers the distal opening of the cavity and, while in an open position, the expandable cover uncovers the distal opening of the cavity, providing the surgical robotic manipulator unobstructed access through the distal opening of the cavity and is unable to revert back to the closed position once in the open position, wherein the expandable cover comprises a first fold, a second fold, a middle fold positioned between the first fold and the second fold, and a release line removably connecting the first fold, the second fold, and the middle fold to each other, wherein the first fold, the second fold, and the middle fold are removably connected to each other, and wherein movement of the release line in a proximal direction releases a connection between the first fold, the second fold and the middle fold thereby separating the folds (307, 309, 305) from each other and allowing the middle fold to unfold distally under pressure of the surgical robotic manipulator being moved distally. a surgical robotic access platform having a proximal portion disposed externally to a patient's body and a distal portion positioned within a patient's body, the proximal portion of the surgical robotic access platform including a flexible seal; and a robotic sheath having a proximal end and a distal end insertable through the flexible seal of the surgical robotic access platform, the robotic sheath having an expandable cover disposed at the distal end of the robotic sheath and defining a cavity having proximal opening and a distal opening and through which a surgical robotic manipulator is insertable therethrough, characterized in that the expandable cover, while in a closed position, covers the distal opening of the cavity and, while in an open position, the expandable cover uncovers the distal opening of the cavity, providing the surgical robotic manipulator unobstructed access through the distal opening of the cavity and is unable to revert back to the closed position once in the open position, wherein the expandable cover comprises a first fold, a second fold, a middle fold positioned between the first fold and the second fold, and a release line removably connecting the first fold, the second fold, and the middle fold to each other, wherein the first fold, the second fold, and the middle fold are removably connected to each other, and wherein movement of the release line in a proximal direction releases a connection between the first fold, the second fold and the middle fold thereby separating the folds (307, 309, 305) from each other and allowing the middle fold to unfold distally under pressure of the surgical robotic manipulator being moved distally.