So the surface only curves in the x-y plane.
Then you concentrate on finding y=f(x) or x=f(y).
i.e. if you know it is exactly a circle, then draw a line-segment between any two points - the bisector of that segment goes through the center. Do this for another pair of points - the intersection of the bisectors is the center. You can also do it by plugging three points into the general equation for a circle.
But for real-world data, you will have an uncertainty on the data points, so the data only approximately follows the circle (or whatever), so that method won't work unless the uncertainty is very small.
You can use least-squares regression to a curve if you have some idea of what the curve should be.
i.e. maybe you have some theory that says it should be a quadratic - then y=ax^2+bx+c and you use the data to find the parameters (a,b,c) - there are computer programs to do that for you.
From the curve you can get the radius of curvature at any point.