Abstract: A gripper for manipulation of an elongate member includes a flexible sleeve for receiving the elongate member, the sleeve extends along a sleeve axis and has first and second opposite ends; a first clamping element is configured to receive and removably couple to the first end of the sleeve; and a second clamping element is configured to receive and removably couple to the second end of the sleeve. The sleeve has a first width at a first location when the first and second clamping elements have a first spacing along the sleeve axis and a second width at the first location when the first and second clamping elements have a second spacing along the sleeve axis which is less than the first spacing.