Is there a way to configure the robots.txt so that the site accepts visits ONLY from Google, Yahoo! and MSN spiders?
Why?
Anyone doing evil (e.g., gathering email addresses to spam) will just ignore robots.txt. So you're only going to be blocking legitimate search engines, as robots.txt compliance is voluntary.
But — if you insist on doing it anyway — that's what the User-Agent: line in robots.txt is for.
User-agent: googlebot
Disallow:
User-agent: *
Disallow: /
With lines for all the other search engines you'd like traffic from, of course. Robotstxt.org has a partial list.