A suturing end-effector comprising a jaw assembly, including a first jaw having a through-hole, and a second jaw having a through-hole. The jaws are openable and closeable relative to each other. The suturing end-effector may further include a hollow suture needle having a first pointed tip, a second pointed tip and an inner channel. In a stowed disposition, the needle is clamped flat between the jaws, and a guide wire runs through the through-hole of the first jaw, the inner channel of the needle, and the through-hole of the second jaw, such that opening the jaws and tensioning the guide wire align the needle with the first pointed tip directed towards the through-hole of the first jaw and the second pointed tip directed towards the through-hole of the second jaw. Also disclosed is a tendon and pulley mechanism configured to alternately lock a suture needle to the first and the second jaw.
