Tool gripper with integrated concentric shutter and methods for its use

A gripper assembly for holding a tool, said gripper assembly comprising:

• a housing configured for mounting on a robotic arm;
• a gripper mechanism coupled to the housing and comprising two pairs of opposed bodies axially spaced-apart along a tool-receiving passage, wherein each pair of opposed bodies comprises a variable-diameter circular aperture for receiving a tool therebetween;
• and
• a gear assembly configured to drive said two pairs of opposed bodies at the same time to close each variable-diameter circular aperture about the tool to grasp the tool when the tool is present in the tool-receiving passage.

A method for manipulating an elongate surgical tool, said method comprising:

• providing a gripper mechanism attached to an arm of a surgical robot;
• placing the elongate surgical in a tool-receiving passage formed between two axially spaced-apart pairs of opposed bodies carried by the gripper mechanism;
• and
• driving said two pairs of opposed bodies at the same time to close each variable-diameter circular aperture about the elongate surgical tool to grasp the tool when the tool is present in the tool-receiving passage.