A teleoperated surgical system including a rigid cannula and a surgical instrument is provided. The rigid cannula may include at least a portion having a curved longitudinal axis. The teleoperated surgical system may include a force transmission mechanism configured to engage a patient side manipulator of the teleoperated surgical system, a flexible shaft, and an end effector coupled to the shaft. The end effector may have a shape enhancing visibility of the end effector and/or enhancing visibility of procedures performed with the end effector. Further, the shape of the end effector may enhance grasping of objects. The end effector may comprise a pair of jaws. At least a portion of each jaw may have a curved longitudinal axis. A surgical instrument and a teleoperated surgical system including a surgical instrument and a needle are also provided.
