Connect Device supporting TCP/IP or OpenProtocol over MQTT

Good morning!

We have an MQTT Architecture. All PLCs are connected through gateways. However we have devices like laser printers and torque wrenches which support TCP/IP and open protocol. One method I know is OPC UA Device Connections. However I am trying to use only MQTT Network.

Is there a possible way to connect the device to ignition directly without introducing an intermediatory?

Thanks