My attempt:
$K = \{(r,\theta): 0 \le r \le R, 0 \le \theta \le 2\pi \}$. I chose following parameterization: $$ \vec{\varphi}(r,\theta)=(r\cos\theta, r\sin\theta,\sqrt{R^2-r^2}).$$ And after further calculations, I got $$ \left\|\frac{\partial{\vec{\varphi}}}{\partial r} \times\frac{\partial{\vec{\varphi}}}{\partial \theta}\right\| = \frac{rR}{\sqrt{R^2-r^2}}.$$
And now, $$\iint_{\Sigma} \frac{d\sigma}{\sqrt{x^2+y^2+(z+R)^2}} = \int_0^{2\pi}d\theta\int_0^R \frac{r^2R}{\sqrt{(2R^2+2R\sqrt{R^2-r^2})(R^2-r^2)}}dr.$$ Applying the substitution $t = \sqrt{R^2-r^2}$, we get $$ 2\pi R\int_R^0\frac{R^2-t^2}{\sqrt{(2R^2+2Rt)t^2}}\frac{-t}{\sqrt{R^2-t^2}}dt=\sqrt{2R}\pi\int_0^R\sqrt{R-t}dt=\frac23\sqrt2\pi R^2.$$
The correct answer, however, should be $2\pi R(2-\sqrt2)$. Can somebody spot my mistake?