A cannula insertion device includes a rigid elongated body having a first end and a second end, an insertion tip located at a first end of the rigid elongated body, a cannula holder located along the rigid elongated body between the first and second ends, the cannula holder being configured to receive, hold, and release a cannula that is at least partially deformable; and a cannula insertion device control means located at a second end of the rigid elongated body. A system for facilitating access to a surgical site via minimally invasive means includes a cannula insertion device and a cannula having a deformable flange at one end.