<p>The emergence of surgical robots has significantly enhanced the efficacy of minimally invasive surgery. Single-port robotic surgery has attracted substantial attention due to its potential to reduce trauma and improve recovery. A single-port surgical robot is typically equipped with a specific trocar, through which the endoscope and surgical instruments are deployed. The trocar design is usually fixed due to the system design. However, it is not always optimal to use one specific trocar to fit all clinical scenarios. This paper therefore, for the first time, proposes a single-port continuum surgical robot with multiple extracorporeal robotic arms, the SHURUI-S system, configurable for different trocar structures to accommodate transabdominal, transumbilical, and transcostal procedures. A unified kinematic framework is derived for the coordinated control of the multiple robotic arms when using different trocars to achieve trocar docking and pose adjustment with collision avoidance. Additionally, a kinematic model incorporating a contact-based, channel-dependent actuation compensation scheme is developed to enhance the accuracy of the continuum surgical instruments. The system overview, design optimization, robotic arm motion capability, and instrument accuracy verification experiments are elaborated. Human clinical trials have been conducted in single-port urologic, gynecologic, and general surgeries, demonstrating the effectiveness of the SHURUI-S system.</p>