I just got back from my trip to Panama. I lived and grew up in Panama for 17 years and never took advantage of these crystal clear waters surrounding these beautiful remote islands until the last few years. The road is now complete to this remote area and you can now hire a local tour driver to take you for $25-$30 each way. Hotels will offer you this tour for a lot more but I suggest dealing directly with the drivers who have all the island contacts and can coordinate your entire tour for 1/3 of the price especially if you speak the language.
I have one driver Alfonso who was excellent and very professional. I will use him myself every single time I fly back to Panama and decide to journey into paradise for some well deserved R&R.
P.s. I do have Alfonsos local cell number in case anyone is interested in using his services.