As there is a shortage of scrub nurses in many hospitals, automatic surgical tool exchanging mechanism without human labour has been studied. Minimally invasive robotic surgeries (MIRS) also require scrub nurses. A surgical tool loading mechanism without a scrub nurse's assistance for MIRS is proposed. Many researchers have developed minimally invasive surgical instruments with a wrist joint that can be movable inside the abdomen. However, implementation of a distal rolling joint on a gripper is rare.