A suture delivery tool releasably secures a self-retaining suture to permit delivery of the self-retaining suture to a surgical site in a patient through an access port. Suture delivery tools are disclosed suitable for manual operation and operation using robotically-assisted surgical systems. In some embodiments, a suture spool is part of a cartridge which is releasably attached to the suture delivery tool. Cartridges is, in some embodiments, replaced after deployment of the self-retaining suture and different cartridges having different self-retaining suture are, in some embodiments, selected and attached to the suture delivery tool as required for a procedure.