Patent Publication Number: US-2022219340-A1

Title: Quick-Release Tool Coupler And Related Systems And Methods

Description:
CROSS-REFERENCE TO RELATED APPLICATION(S) 
     This application claims priority as a continuation of U.S. application Ser. No. 15/687,113, filed Aug. 25, 2017 and entitled “Quick-Release End Effector Tool Interface,” which claims the benefit under 35 U.S.C. § 119(e) to U.S. Provisional Application 62/379,344, filed Aug. 24, 2016 and entitled “Quick-Release End Effector Tool Coupler,” which are hereby incorporated herein by reference in their entireties. 
    
    
     GOVERNMENT SUPPORT 
     This invention was made with government support under Grant No. W81XWH-14-1-0058, awarded by the U.S. Army Medical Research Acquisition ACT. The government has certain rights in the invention. 
    
    
     FIELD OF THE INVENTION 
     The various embodiments herein relate to coupling mechanisms that provide for quick coupling to and quick release from a medical device tool such as, for example, an end effector. The various coupling mechanism embodiments can be incorporated into or attached to various types of medical devices, including robotic surgical devices and systems. 
     BACKGROUND OF THE INVENTION 
     Many known surgical device systems, including robotic systems, utilize a tool coupler that consists of concentric splines and a quarter-turn system to lock the tool into the front of the device (or an arm thereof). In other words, the coupler requires that the tool be positioned in the coupler on the device and rotated ¼ turn to align the concentric splines and thereby couple or attach the tool to the device. In these known couplers, once the tool is attached to the device, the concentric splines also operate to transfer rotary motion from the device to the tool. 
     There is a need in the art for an improved end effector tool coupler for use with various types of medical devices. 
     BRIEF SUMMARY OF THE INVENTION 
     Discussed herein are various coupling mechanisms, apparatuses, and components for quick-release attachment of various medical tools to various medical devices and systems. 
     In Example 1, a coupling apparatus for a medical device comprises a coupler body, a cavity defined in a distal end of the coupler body, a rotatable drive component disposed within the cavity, the drive component comprising at least two pin-receiving openings, and an actuable locking ring disposed around the cavity. 
     Example 2 relates to the coupling apparatus according to Example 1, wherein the coupler body is coupleable to a tool, wherein the tool comprises a tool body sized and arranged to be positionable within the cavity and a rotatable driven component operably coupled to the tool body. The rotatable driven component comprises at least two pin chambers defined in the rotatable driven component, and at least two tensioned pins, wherein each of the at least two tensioned pins is disposed within and is extendable from one of the at least two pin chambers comprising at least two tensioned pins extending therefrom. The rotatable driven component is alignable with the rotatable drive component such that the at least two tensioned pins extend into the at least two pin-receiving openings. 
     Example 3 relates to the coupling apparatus according to Example 1, wherein the rotatable drive component comprises an inner drive component comprising at least two inner pin-receiving openings, and an outer drive component comprising at least two outer pin-receiving openings. 
     Example 4 relates to the coupling apparatus according to Example 3, wherein the coupler body is coupleable to a tool, wherein the tool comprises a tool body sized and arranged to be positionable within the cavity, and a rotatable driven component operably coupled to the tool body. The rotatable driven component comprises an inner driven component comprising at least two inner pin chambers defined in the inner driven component and at least two inner tensioned pins disposed within and extendable from the at least two inner pin chambers, and an outer driven component comprising at least two outer pin chambers defined in the outer driven component and at least two outer tensioned pins disposed within and extendable from the at least two outer pin chambers. The inner driven component is alignable with the inner drive component such that the at least two inner tensioned pins extend into the at least two inner pin-receiving openings, and the outer driven component is alignable with the outer drive component such that the at least two outer tensioned pins extend into the at least two outer pin-receiving openings. 
     Example 5 relates to the coupling apparatus according to Example 3, further comprising an insulation layer disposed between the inner and outer drive components. 
     Example 6 relates to the coupling apparatus according to Example 1, wherein the actuable locking ring is movable between a depressed position in which any tool body disposed within the cavity is releasable and a non-depressed position in which any tool body disposed within the cavity is locked therein. 
     Example 7 relates to the coupling apparatus according to Example 1, further comprising an elongate tube disposed through a length of the coupler body such that the rotatable drive component is disposed around a distal portion of the elongate tube, the elongate tube comprising a lumen in fluid communication with a distal opening of the elongate tube. 
     In Example 8, a coupling system for a medical device comprises a coupling apparatus associated with the medical device and a tool body coupleable with the coupling apparatus. The apparatus comprises a coupler body, a cavity defined in a distal end of the coupler body, a rotatable drive component disposed within the cavity, the drive component comprising at least two pin-receiving openings, and an actuable locking ring disposed around the cavity. The tool body is sized and arranged to be positionable within the cavity and comprises a rotatable driven component operably coupled to the tool body. The rotatable driven component comprises at least two pin chambers defined in the rotatable driven component, and at least two tensioned pins disposed within and extendable from the at least two pin chambers. The rotatable driven component is alignable with the rotatable drive component such that the at least two tensioned pins extend into the at least two pin-receiving openings. 
     Example 9 relates to the coupling system according to Example 8, wherein the rotatable drive component comprises an inner drive component comprising at least two inner pin-receiving openings, and an outer drive component comprising at least two outer pin-receiving openings. 
     Example 10 relates to the coupling system according to Example 9, wherein the rotatable driven component comprises a rotatable inner driven component, wherein the at least two pin chambers comprise at least two inner pin chambers defined in the rotatable inner driven component, and wherein the at least two tensioned pins comprise at least two inner tensioned pins disposed within and extendable from the at least two inner pin chambers, and a rotatable outer driven component, wherein the at least two pin chambers comprise at least two outer pin chambers defined in the rotatable outer driven component, and wherein the at least two tensioned pins comprise at least two outer tensioned pins disposed within and extendable from the at least two outer pin chambers. The rotatable inner driven component is alignable with the inner drive component such that the at least two inner tensioned pins extend into the at least two inner pin-receiving openings, and the rotatable outer driven component is alignable with the outer drive component such that the at least two outer tensioned pins extend into the at least two outer pin-receiving openings. 
     Example 11 relates to the coupling system according to Example 9, further comprising an insulation layer disposed between the inner and outer drive components. 
     Example 12 relates to the coupling system according to Example 8, wherein the actuable locking ring is movable between a depressed position in which the tool body is releasable from the cavity and a non-depressed position in which the tool body disposed within the cavity is locked therein. 
     Example 13 relates to the coupling system according to Example 8, further comprising an elongate tube disposed through a length of the coupler body such that the rotatable drive component is disposed around a distal portion of the elongate tube, the elongate tube comprising a lumen in fluid communication with a distal opening of the elongate tube. 
     In Example 14, a coupling system for a medical device comprises a coupling apparatus associated with the medical device and a tool body coupleable with the coupling apparatus. The coupling apparatus comprises a coupler body, a cavity defined in a distal end of the coupler body, an inner drive component comprising at least two inner pin-receiving openings, an outer drive component comprising at least two outer pin-receiving openings, and an actuable locking ring disposed around the cavity. The tool body is sized and arranged to be positionable within the cavity and comprises a rotatable inner driven component and a rotatable outer driven component. The rotatable inner driven component comprises at least two inner pin chambers defined in the rotatable inner driven component, and at least two inner tensioned pins disposed within and extendable from the at least two inner pin chambers. The rotatable outer driven component comprises at least two outer pin chambers defined in the rotatable outer driven component, and at least two outer tensioned pins disposed within and extendable from the at least two outer pin chambers. The rotatable inner driven component is alignable with the inner drive component such that the at least two inner tensioned pins extend into the at least two inner pin-receiving openings, and the rotatable outer driven component is alignable with the outer drive component such that the at least two outer tensioned pins extend into the at least two outer pin-receiving openings. 
     Example 15 relates to the coupling system according to Example 14, further comprising an insulation layer disposed between the inner and outer drive components. 
     Example 16 relates to the coupling system according to Example 14, wherein the actuable locking ring is movable between a depressed position in which the tool body is releasable from the cavity and a non-depressed position in which the tool body disposed within the cavity is locked therein. 
     Example 17 relates to the coupling system according to Example 14, further comprising an elongate tube disposed through a length of the coupler body such that the rotatable drive component is disposed around a distal portion of the elongate tube, the elongate tube comprising a lumen in fluid communication with a distal opening of the elongate tube. 
     In Example 18, a method of coupling a tool to a medical device comprises positioning a rotatable driven component of a tool into a cavity of a coupling apparatus, the coupling apparatus comprising a rotatable drive component disposed within the cavity, wherein the rotatable drive component comprises at least two pin-receiving openings, and wherein the rotatable driven component comprises at least two pin chambers and at least two tensioned pins disposed within and extendable from the at least two pin chambers, and urging the rotatable driven component toward the rotatable drive component, whereby the at least two tensioned pins are urged into the at least two pin-receiving openings such that the rotatable drive component and the rotatable driven component are rotatably coupled. 
     In Example 19, a method of coupling a tool to a medical device comprises positioning a rotatable driven component of a tool into a cavity of a coupling apparatus, the coupling apparatus comprising a rotatable drive component disposed within the cavity, wherein the rotatable drive component comprises at least two pin-receiving openings, and wherein the rotatable driven component comprises at least two pin chambers and at least two tensioned pins disposed within and extendable from the at least two pin chambers, urging the rotatable driven component toward the rotatable drive component, whereby the at least two tensioned pins are urged into contact with the rotatable drive component such that the at least two tensioned pins are urged into the at least two pin chambers, and rotating the rotatable drive component in relation to the rotatable driven component until the at least two pin-receiving openings align with the at least two pin chambers such that the at least two tensioned pins are urged into the at least two pin-receiving openings such that the rotatable drive component and the rotatable driven component are rotatably coupled. 
     While multiple embodiments are disclosed, still other embodiments of the present invention will become apparent to those skilled in the art from the following detailed description, which shows and describes illustrative embodiments of the invention. As will be realized, the invention is capable of modifications in various obvious aspects, all without departing from the spirit and scope of the present invention. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not restrictive. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1A  is a side view of a coupling mechanism coupled to a device tool, according to one embodiment. 
         FIG. 1B  is a side view of the coupling mechanism and device tool of  FIG. 1A  in which the locking mechanism has been depressed, according to one embodiment. 
         FIG. 1C  is a side view of the coupling mechanism and device tool of  FIG. 1A  in which the device tool is being uncoupled from the coupling mechanism, according to one embodiment. 
         FIG. 2A  is a side view of a graspers end effector, according to one embodiment. 
         FIG. 2B  is a perspective rear view of the graspers end effector of  FIG. 2A . 
         FIG. 3  is a perspective front view of a coupling mechanism, according to another embodiment. 
         FIG. 4A  is a perspective front view of a graspers end effector, according to another embodiment. 
         FIG. 4B  is a side cutaway view of the graspers end effector of  FIG. 4A  coupled to a coupling mechanism, according to one embodiment. 
         FIG. 5A  is a side cutaway view of a coupling mechanism, according to one embodiment. 
         FIG. 5B  is a side cutaway view of the coupling mechanism of  FIG. 5A  coupled to a device tool, according to one embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     The various systems and devices disclosed herein relate to devices for use in medical procedures and systems. More specifically, various embodiments relate to a quick-change coupling apparatus or component that can be used to releasably couple a tool or end effector to a medical device or a component thereof (such as, for example, an arm of the device). For example, in certain implementations, the medical device is a robotic surgical device with an arm having the coupling mechanism disposed on the arm such that one or more end effectors can be coupled to and detached from the arm via the coupling mechanism. 
     Rather than the known quarter-turn configuration as discussed above, the implementations disclosed or contemplated herein relate to a self-locking quick release mechanism that includes a spring-loaded coupling component (also referred to herein as an “coupler” or “coupler) (rather than concentric splines) that provides for a compliant passage of actuation forces without requiring any type of alignment step during the process of coupling the tool to the coupling component. 
     The various systems and devices disclosed herein relate to devices, or components thereof, for use in medical procedures and systems. More specifically, various embodiments relate to various medical devices, including robotic devices and related methods and systems. 
     It is understood that the various embodiments of robotic devices and related methods and systems disclosed herein can be incorporated into or used with any other known medical devices, systems, and methods. For example, the various embodiments disclosed herein may be incorporated into or used with any of the medical devices and systems disclosed in U.S. Pat. No. 8,968,332 (issued on Mar. 3, 2015 and entitled “Magnetically Coupleable Robotic Devices and Related Methods”), U.S. Pat. No. 8,834,488 (issued on Sep. 16, 2014 and entitled “Magnetically Coupleable Surgical Robotic Devices and Related Methods”), U.S. patent application Ser. No. 14/617,232 (filed on Feb. 9, 2015 and entitled “Robotic Surgical Devices and Related Methods”), U.S. Pat. No. 9,579,088 (issued on Feb. 28, 2017 and entitled “Methods, Systems, and Devices for Surgical Visualization and Device Manipulation”), U.S. Pat. No. 8,343,171 (issued on Jan. 1, 2013 and entitled “Methods and Systems of Actuation in Robotic Devices”), U.S. Pat. No. 8,828,024 (issued on Sep. 9, 2014 and entitled “Methods and Systems of Actuation in Robotic Devices”), U.S. patent application Ser. No. 14/454,035 (filed Aug. 7, 2014 and entitled “Methods and Systems of Actuation in Robotic Devices”), U.S. patent application Ser. No. 12/192,663 (filed Aug. 15, 2008 and entitled Medical Inflation, Attachment, and Delivery Devices and Related Methods”), U.S. patent application Ser. No. 15/018,530 (filed Feb. 8, 2016 and entitled “Medical Inflation, Attachment, and Delivery Devices and Related Methods”), U.S. Pat. No. 8,974,440 (issued on Mar. 10, 2015 and entitled “Modular and Cooperative Medical Devices and Related Systems and Methods”), U.S. Pat. No. 8,679,096 (issued on Mar. 25, 2014 and entitled “Multifunctional Operational Component for Robotic Devices”), U.S. Pat. No. 9,179,981 (issued on Nov. 10, 2015 and entitled “Multifunctional Operational Component for Robotic Devices”), U.S. patent application Ser. No. 14/936,234 (filed on Nov. 9, 2015 and entitled “Multifunctional Operational Component for Robotic Devices”), U.S. Pat. No. 8,894,633 (issued on Nov. 25, 2014 and entitled “Modular and Cooperative Medical Devices and Related Systems and Methods”), U.S. Pat. No. 8,968,267 (issued on Mar. 3, 2015 and entitled “Methods and Systems for Handling or Delivering Materials for Natural Orifice Surgery”), U.S. Pat. No. 9,060,781 (issued on Jun. 23, 2015 and entitled “Methods, Systems, and Devices Relating to Surgical End Effectors”), U.S. patent application Ser. No. 14/745,487 (filed on Jun. 22, 2015 and entitled “Methods, Systems, and Devices Relating to Surgical End Effectors”), U.S. Pat. No. 9,089,353 (issued on Jul. 28, 2015 and entitled “Robotic Surgical Devices, Systems, and Related Methods”), U.S. patent application Ser. No. 14/800,423 (filed on Jul. 15, 2015 and entitled “Robotic Surgical Devices, Systems, and Related Methods”), U.S. patent application Ser. No. 13/573,849 (filed Oct. 9, 2012 and entitled “Robotic Surgical Devices, Systems, and Related Methods”), U.S. patent application Ser. No. 13/738,706 (filed Jan. 10, 2013 and entitled “Methods, Systems, and Devices for Surgical Access and Insertion”), U.S. patent application Ser. No. 13/833,605 (filed Mar. 15, 2013 and entitled “Robotic Surgical Devices, Systems, and Related Methods”), U.S. patent application Ser. No. 14/661,465 (filed Mar. 18, 2015 and entitled “Methods, Systems, and Devices for Surgical Access and Insertion”), U.S. Pat. No. 9,498,292 (issued on Nov. 22, 2016 and entitled “Single Site Robotic Devices and Related Systems and Methods”), U.S. patent application Ser. No. 15/357,663 (filed Nov. 21, 2016 and entitled “Single Site Robotic Devices and Related Systems and Methods”), U.S. Pat. No. 9,010,214 (issued on Apr. 21, 2015 and entitled “Local Control Robotic Surgical Devices and Related Methods”), U.S. patent application Ser. No. 14/656,109 (filed on Mar. 12, 2015 and entitled “Local Control Robotic Surgical Devices and Related Methods”), U.S. patent application Ser. No. 14/208,515 (filed Mar. 13, 2014 and entitled “Methods, Systems, and Devices Relating to Robotic Surgical Devices, End Effectors, and Controllers”), U.S. patent application Ser. No. 14/210,934 (filed Mar. 14, 2014 and entitled “Methods, Systems, and Devices Relating to Force Control Surgical Systems), U.S. patent application Ser. No. 14/212,686 (filed Mar. 14, 2014 and entitled “Robotic Surgical Devices, Systems, and Related Methods”), U.S. patent application Ser. No. 14/334,383 (filed Jul. 17, 2014 and entitled “Robotic Surgical Devices, Systems, and Related Methods”), U.S. patent application Ser. No. 14/853,477 (filed Sep. 14, 2015 and entitled “Quick-Release End Effectors and Related Systems and Methods”), U.S. patent application Ser. No. 14/938,667 (filed Nov. 11, 2015 and entitled “Robotic Device with Compact Joint Design and Related Systems and Methods”), U.S. patent application Ser. No. 15/227,813 (filed Aug. 3, 2016 and entitled “Robotic Surgical Devices, Systems, and Related Methods”), U.S. patent application Ser. No. 15/599,231 (filed May 18, 2017 and entitled “Robotic Surgical Devices, Systems, and Related Methods”), U.S. Patent Application 62/381,299 (filed Aug. 30, 2016 and entitled “Robotic Device with Compact Joint Design and an Additional Degree of Freedom and Related Systems and Methods”), U.S. Patent Application 62/425,149 (filed Nov. 22, 2016 and entitled “Improved Gross Positioning Device and Related Systems and Methods”), U.S. Patent Application 62/427,357 (filed Nov. 29, 2016 and entitled “Controller with User Presence Detection and Related Systems and Methods”), U.S. Patent Application 62/433,837 (filed Dec. 14, 2016 and entitled “Releasable Attachment Device for Coupling to Medical Devices and Related Systems and Methods”), and U.S. Pat. No. 7,492,116 (filed on Oct. 31, 2007 and entitled “Robot for Surgical Applications”), 7,772,796 (filed on Apr. 3, 2007 and entitled “Robot for Surgical Applications”), and U.S. Pat. No. 8,179,073 (issued May 15, 2011, and entitled “Robotic Devices with Agent Delivery Components and Related Methods”), all of which are hereby incorporated herein by reference in their entireties. 
     Certain device and system implementations disclosed in the applications listed above can be positioned within a body cavity of a patient in combination with a support component similar to those disclosed herein. An “in vivo device” as used herein means any device that can be positioned, operated, or controlled at least in part by a user while being positioned within a body cavity of a patient, including any device that is coupled to a support component such as a rod or other such component that is disposed through an opening or orifice of the body cavity, also including any device positioned substantially against or adjacent to a wall of a body cavity of a patient, further including any such device that is internally actuated (having no external source of motive force), and additionally including any device that may be used laparoscopically or endoscopically during a surgical procedure. As used herein, the terms “robot,” and “robotic device” shall refer to any device that can perform a task either automatically or in response to a command. 
     Certain embodiments provide for insertion of the present invention into the cavity while maintaining sufficient insufflation of the cavity. Further embodiments minimize the physical contact of the surgeon or surgical users with the present invention during the insertion process. Other implementations enhance the safety of the insertion process for the patient and the present invention. For example, some embodiments provide visualization of the present invention as it is being inserted into the patient&#39;s cavity to ensure that no damaging contact occurs between the system/device and the patient. In addition, certain embodiments allow for minimization of the incision size/length. Further implementations reduce the complexity of the access/insertion procedure and/or the steps required for the procedure. Other embodiments relate to devices that have minimal profiles, minimal size, or are generally minimal in function and appearance to enhance ease of handling and use. 
     Certain implementations disclosed herein relate to “combination” or “modular” medical devices that can be assembled in a variety of configurations. For purposes of this application, both “combination device” and “modular device” shall mean any medical device having modular or interchangeable components that can be arranged in a variety of different configurations. The modular components and combination devices disclosed herein also include segmented triangular or quadrangular-shaped combination devices. These devices, which are made up of modular components (also referred to herein as “segments”) that are connected to create the triangular or quadrangular configuration, can provide leverage and/or stability during use while also providing for substantial payload space within the device that can be used for larger components or more operational components. As with the various combination devices disclosed and discussed above, according to one embodiment these triangular or quadrangular devices can be positioned inside the body cavity of a patient in the same fashion as those devices discussed and disclosed above. 
       FIGS. 1A-1C  depict one embodiment of a self-locking quick release mechanism  10  for coupling a device tool  14  to a coupler  12 . It is understood that the coupler  12  is coupled to or integral with a medical device or some component thereof, such that the coupling of a device tool  14  to the coupler  12  results in the device tool  14  being coupled to the medical device. For example, in certain implementations, the coupler  12  is coupled to or integral with a distal end of a robotic arm of the medical device. In more specific implementations, the coupler  12  is coupled to or integral with a distal end of a forearm of a robotic arm of the medical device. The coupler  12  has a coupler body  20  and an actuable locking ring  22 . The actuable locking ring  22  can be depressed (or urged proximally toward the coupler body  20 ) as shown by the arrows A in  FIG. 1B  to trigger the release of the device tool  14  from the coupler  12 . 
     The removable device tool  14 , according to some implementations, is an end effector  14  for coupling to an arm of a medical device via the coupler  12 . Alternatively, the end effector  14  is being coupled to a distal end of a forearm of a medical device via the coupler  12 . The removable device tool  14  can have any number of different configurations or can be any one of several different types of tools. Regardless of the configuration of the tool  14 , it has a tool body  30  that is configured to be positionable in and coupleable with the coupler body  20 . 
     In use, the tool  14  can be removed or uncoupled from the coupler  12  by urging the actuable locking ring  22  proximally toward the coupler body  20  as shown in  FIG. 1B , thereby releasing the tool  14  such that it can be urged distally as shown via the arrows B in  FIG. 1C  and removed from the coupler  12 . It is understood that after the tool  14  has been removed, the tool  14  can be re-attached to the coupler  12 —or another tool  14  can be attached thereto—by simply urging the tool  14  proximally into the locking ring  22  such that the tool  14  couples to the coupler  12 . 
     One exemplary tool  50  that is coupleable to a coupler (such as coupler  12  discussed above) is depicted in  FIGS. 2A and 2B  and has an end effector body  52 . As best shown in  FIG. 2B , the proximal end of the end effector body  52  has pins (also referred to herein as “tensioned pins” or “spring-loaded pins”)  58 A,  58 B disposed within and extending from the proximal end  54  of the body  52  in their resting state. Each of the pins  58 A,  58 B is disposed within an opening (also referred to herein as a “pin chamber”)  56 A,  56 B defined in the proximal end  54  such that each pin  58 A,  58 B can be urged toward the body  52  into its chamber  56 A,  56 B. That is, each pin  58 A,  58 B is coupled to a force mechanism (not shown) that has a resting state in which the pin  58 A,  58 B is extended from the pin chamber  56 A,  56 B and applies a force to the pin  58 A,  58 B when the pin  58 A,  58 B is urged toward the end effector body  52 . In one embodiment, the force mechanism is a compression spring (not shown). Alternatively, any known force mechanism that operates as described can be used. 
     In the exemplary embodiment as shown, the end effector body  52  has eight spring-loaded pins  58 A,  58 B, with four pins  58 A disposed in four pin chambers  56 A defined in an inner driven component  60 A and four pins  58 B disposed in four pin chambers  56 B defined in an outer driven component  60 B, wherein the two driven components  60 A,  60 B are concentric or coaxial. That is, the two driven components  60 A,  60 B are separate components that rotate around the same axis. Alternatively, the body  52  can have a number of pins ranging from one pin to any number of pins that can be disposed in chambers on the proximal end  54  of the body  52 . In one specific alternative embodiment, the proximal end  54  has at least four pins disposed in four pin chambers. In a further alternative, the proximal end  54  has at least two pins disposed in two pin chambers. 
     In this specific implementation, the end effector body  52  also has a central tube  70  disposed therethrough that defines a central lumen  72  within the tube  70 . The central tube  70  can be used in several different capacities, thereby making it possible for the tool  50  to be one of several different types of tools. That is, the tube  70  with its central lumen  72  can be used for suction, irrigation, tool delivery, drug delivery, clip application, and/or biopsy collection, and various other known features of various medical device tools or end effectors. 
     Alternatively, there are tool configurations that don&#39;t require a tube  70  with a lumen  72 , and thus the body  52  according to certain implementations can have no tube. Without the tube  70 , the body  52  can have a smaller diameter. In one specific embodiment in which the body  52  has no tube, the body can have a diameter of around ⅜ inch, thereby allowing the end effector  50  to fit through a standard laparoscopic port (which has an inner diameter of around 10 mm. 
     In one implementation, the coaxial driven components  60 A,  60 B can rotate in relation to each other, thereby adding an additional degree of freedom to the tool  50 . In alternative embodiments, the body  52  doesn&#39;t have two concentric driven components, but instead the body  52  is a single, unitary component. 
     In the exemplary embodiment as shown in  FIGS. 2A and 2B , the tool  50  is a set of graspers  50 . That is, the graspers end effector  50  has two grasper arms  80 A,  80 B coupled to the end effector body  52 . 
     The spring-loaded pins  58 A,  58 B on the tool  50  as described above are configured to operate in conjunction with a corresponding device coupler (such as the coupler  12  discussed above, for example, or any other coupler embodiment disclosed or contemplated herein) to allow for the coupling of the tool body  50  to the coupler without the need for an alignment step. This non-alignment coupling is best described in relation to the coupler to which the body  50  is coupled. One example of a device coupler  90  is depicted in  FIG. 3  according to one implementation, in which the coupler  90  has a coupler body  92 , a coupler cavity  94 , a coupler drive component  96  disposed within the cavity  94 , and an actuable locking ring  98  disposed around the cavity  94 . In this specific implementation, the coupler drive component  96  is actually made up of two drive components: a first or inner drive component  100 A and a second or outer drive component  100 B, wherein the drive components  100 A,  100 B are coaxial and rotatable in relation to each other. Further, each of the drive components  100 A,  100 B has pin-receiving openings  102 A,  102 B defined therein. More specifically, in this particular embodiment, the inner drive component  100 A has eight openings  102 A and the outer drive component  100 B has eight openings  102 B. The eight openings  102 A defined in the inner drive component  100 A are configured to receive the spring-loaded pins of an inner driven component of a proximal end of a coupleable tool (such as the pins  58 A of the inner driven component  60 A of the tool  50  discussed above, for example), while the eight openings  102 B defined in the outer drive component  100 B are configured to receive the spring-loaded pins of an outer driven component of a proximal end of a coupleable tool (such as the pins  58 B of the outer driven component  60 B of the tool  50  discussed above, for example). Alternatively, the coupler drive component  96  doesn&#39;t have two concentric drive components and instead has a single, unitary component and thus is configured to couple with the proximal end of a coupleable tool that also has a single, unitary component. 
     These openings  102 A,  102 B are defined in a predetermined pattern on the drive component  96  such that the pins  58 A,  58 B can fit into the openings  102 A,  102 B. In this embodiment, the inner drive component  100 A has twice as many openings  102 A as the number of pins  58 A on the inner driven component  60 A of the tool  50  and the outer drive component  100 B has twice as many openings  102 B as the number of pins  58 B on the outer driven component  60 B of the tool  50 . As such, the pins  58 A,  58 B can be positioned in the openings  102 A,  102 B in two different couplings (in two different sets of the openings  102 A,  102 B). As such, the fact that there are twice as many openings  102 A,  102 B as pins  58 A,  58 B further reduces the coupling time, as will be described in additional detail below. 
     In addition, this coupler  90  embodiment has a central tube  104  with a lumen  106  that is coupleable to any central tube of the tool to be coupled thereto (such as the tube  70  of the tool  50  described above). Alternatively, the coupler  90  does not have a central tube  104  when the tool to be coupled thereto has no central tube. 
     In use in which the tool  50  is coupled to the coupler  90 , the proximal end  54  of the tool body  52  is inserted into the coupler cavity  90  and urged proximally toward the coupler drive component  96 . While it is unlikely, if the pins  58 A,  58 B happen to be aligned correctly with the openings  102 A,  102 B without any rotation of either the tool  50  or the coupler  90  in relation to each other, the pins  58 A,  58 B will be urged into the openings  102 A,  102 B and disposed therein such that rotation of the inner drive component  100 A of the coupler drive component  96  will cause rotation of the inner driven component  60 A of the tool  50  and rotation of the outer drive component  100 B of the drive component  96  will cause rotation of the outer driven component  60 B of the tool  50 . In the more likely scenario that the pins  58 A,  58 B are not aligned correctly with the openings  102 A,  102 B, the pins  58 A,  58 B will make contact with the drive component  96  such that the pins  58 A,  58 B will be urged toward the device body  52  such that the pins  58 A,  58 B will be urged into their pin chambers  56 A,  56 B until the proximal end  54  contacts the coupler drive component  96 . At this point, the two drive components  100 A,  100 B of the drive component  96  are rotated in relation to the tool body  52  until the openings  102 A,  102 B are aligned correctly with the pins  58 A,  58 B. When the alignment is correct, the force mechanisms (not shown) coupled to each of the pins  58 A,  58 B will urge the pins proximally toward the coupler body  92 , thereby causing the pins  58 A,  58 B to be positioned in the openings  102 A,  102 B. Once the pins  58 A,  58 B are positioned correctly in the openings  102 A,  102 B, rotation of the inner drive component  100 A of the coupler drive component  96  will cause rotation of the inner driven component  60 A of the tool  50  and rotation of the outer drive component  100 B of the drive component  96  will cause rotation of the outer driven component  60 B of the tool  50 . 
     In accordance with one implementation, the coupler  90  having a drive component  96  with openings  102 A,  102 B makes it easier to sterilize the coupler  90  in comparison to pins (such as pins  58 A,  58 B), which can be more difficult to sterilize given the additional moving components, relative inaccessibility of some of those components, and related amount of surface area. However, in an alternative embodiment, the coupler (such as coupler  90 ) could have spring-loaded pins and the tool (such as tool  50 ) could have openings configured to receive those pins. 
       FIGS. 4A and 4B  depict another device tool  120  that is a graspers tool  120  with suction and irrigation features and is coupled to a coupler  160 . More specifically, the tool body  126  is disposed within the cavity (not shown) of the coupler  160 . In this embodiment, the device tool  120  is an end effector  120  and the coupler  160  is coupled to or integral with the arm of a robotic device (not shown). The tool  120  has first and second grasper arms  122 A,  122 B that are configured to form the distal end of a lumen  124  when the two arms  122 A,  122 B are in their closed position as best shown in  FIG. 4A . As best shown in  FIG. 4B , the lumen  124  extends from the grasper arms  122 A,  122 B to the proximal end of the tool body  126  through a central tube  128 . The tube  128  is configured to transport irrigation fluid distally to the distal end of the tool  120  and apply suction proximally toward the proximal end of the body  126  through the lumen  124 . 
     As best shown in  FIG. 4B , the tool body  126  is made up of an outer driven component  130  and an inner driven component  132  having an inner lumen  134  with threads  136 . The tool  120  also has a push rod  138  that is disposed within the inner lumen  134  and extends distally from the lumen  134 . The push rod  138  has external threads  140  that mate with the threads  136  of the inner driven component  132 . In addition, the rod  138  is coupled at its distal end to the arm links  142 A,  142 B (wherein only the arm link  142 A is depicted in  FIG. 4B ) that are coupled to the grasper arms  122 A,  122 B such that actuation of the push rod  138  causes actuation of the arms  122 A,  122 B to move between their open and closed configurations. The proximal end of the inner driven component  132  has two pin chambers  144 A,  144 B defined therein such that each chamber  144 A,  144 B contains a spring-loaded pin  146 A,  146 B that is configured to be extendable from the chamber  144 A,  144 B in the manner discussed above with respect to spring-loaded pins  58 A,  58 B. While two pin chambers  144 A,  144 B are depicted, it is understand that the inner driven component  132  can have additional chambers that are not visible in the cross-sectional view depicted in  FIG. 4B . As such, the inner driven component  132  can have a similar number of chambers as the inner driven component  60 A of the tool body  52  described above and shown in  FIG. 2B . In addition, the inner driven component  132  in this embodiment has an external channel  148  defined around an outer surface of the component  132 . The channel  148  is configured to receive two cylindrical pins (not shown) that are inserted through openings in the tool body  126  similar to the pins  62 A,  62 B positioned in the tool body  52  as shown in  FIG. 2A . These pins prevent the inner driven component  132  from moving laterally while allowing the component  132  to rotate. 
     The outer driven component  130  is rotatably disposed around the inner driven component  132  as best shown in  FIG. 4B  and rotationally coupled to (or integral with) the yoke  150  as best shown in  FIG. 4A  such that rotation of the outer driven component  130  causes rotation of the yoke  150 , thereby rotating the grasper arms  122 A,  122 B. The proximal end of the outer driven component  130  has two pin chambers  152 A,  152 B defined therein such that each chamber  152 A,  152 B contains a spring-loaded pin  154 A,  154 B that is configured to be extendable from the chamber  152 A,  152 B in the manner discussed above with respect to spring-loaded pins  58 A,  58 B. While two pin chambers  152 A,  152 B (and pins  154 A,  154 B) are depicted, it is understood that the outer driven component  130  can have additional chambers that are not visible in the cross-sectional view depicted in  FIG. 4B . As such, the outer driven component  130  can have a similar number of chambers (and pins) as the outer driven component  60 B of the tool body  52  described above and shown in  FIG. 2B . 
     As best shown in  FIG. 4B , in accordance with one embodiment, the coupler  160  has a coupler body  162  that contains the coupler drive component  164 . In this specific implementation, the coupler drive component  164  is made up of the inner drive component  164 A and the outer drive component  164 B. The inner drive component  164 A as shown has two pin-receiving openings  166 A,  166 B, each of which is configured to receive a corresponding spring-loaded pin as a result of the coupling action described above. More specifically, as shown in  FIG. 4B , pin  146 A is disposed in opening  166 A and pin  146 B is disposed in opening  166 B. While two openings  166 A,  166 B are depicted, it is understood that the inner drive component  164 A can have additional openings that are not visible in the cross-sectional view depicted in  FIG. 4B . As such, the inner drive component  164 A can have a similar number of openings as the inner drive component  100 A of the coupler drive component  96  described above and shown in  FIG. 3 . 
     Further, the outer drive component  164 B as shown has two pin-receiving openings  168 A,  168 B, each of which is configured to receive a corresponding spring-loaded pin as a result of the coupling action described above. More specifically, as shown in  FIG. 4B , pin  154 A is disposed in opening  168 A and pin  154 B is disposed in opening  168 B. While two openings  168 A,  168 B are depicted, it is understood that the outer drive component  164 B can have additional openings that are not visible in the cross-sectional view depicted in  FIG. 4B . As such, the outer drive component  164 B can have a similar number of openings as the outer drive component  100 B of the coupler drive component  96  described above and shown in  FIG. 3 . 
     In use, the inner drive component  164 A of the coupler  160  can be actuated to rotate. With the spring-loaded pins (including pins  146 A,  146 B) of the tool  120  disposed within the pin-receiving openings  166 A,  166 B of the inner drive component  164 A, the rotation of the inner drive component  164 A causes the inner driven component  132  to rotate. Because the internal threads  136  of the inner driven component  132  are mated with the external threads  140  of the push rod  138 , the rotation of the inner driven component  132  causes the push rod  138  to move laterally. Because the grasper arm  122 A,  122 B are coupled to the push rod  138  via the links  142 A,  142 B (wherein only  142 A is depicted in  FIG. 4B ), the lateral movement of the push rod  138  causes the grasper arms  122 A,  122 B to move between their open and closed configurations. 
     Further, the outer drive component  164 B can also be actuated to rotate. With the spring-loaded pins (including pins  154 A,  154 B) of the tool  120  disposed within the pin-receiving openings  168 A,  168 B of the outer drive component  164 B, the rotation of the outer drive component  164 B causes the outer driven component  130  to rotate. Because the yoke  150  is coupled to or integral with the distal end of the outer driven component  130  (as best shown in  FIG. 4A ), the rotation of the outer driven component  130  causes the yoke  150  to rotate. Because the grasper arms  122 A,  122 B are disposed at least partially within the yoke  150  and are rotationally constrained by the yoke  150 , the rotation of the yoke  150  causes the grasper arms  122 A,  122 B to rotate around the same axis. 
       FIGS. 5A and 5B  depict another embodiment of a coupler  180  coupled to a tool  230 , wherein the coupler  180  and tool  230  are configured such that the tool  230  can have bipolar capabilities as will be described below.  FIG. 5A  depicts the coupler  180  without the tool  230  coupled thereto, while  FIG. 5B  depicts the coupler  180  and tool  230  coupled together. In this implementation, the coupler  180  and the tool  230  have components and features substantially similar to those described above and depicted in  FIGS. 4A and 4B  with respect to the coupler  160  and tool  120 , except for those differences described herein. 
     In this embodiment, the coupler  180  is coupled to or integral with the distal end of a forearm of a robotic surgical device (not shown). Alternatively, the coupler  180  can be coupled to or integral with any medical device to which a tool (such as tool  230 ) is to be coupled. The coupler  180  has a coupler body  182  that has an actuable locking ring  186  disposed within the coupler cavity  184 . Further, the body  182  has a central tube  188  that defines a central lumen  190 , an inner drive component  192 , an outer drive component  194 , and an insulation layer  196  disposed between the inner and outer drive components  192 ,  194 , thereby electrically separating the inner and outer drive components  192 ,  194  to provide for potential bipolar capabilities. 
     The actuable locking ring  186  can be used to retain or lock the tool  230  in place in the coupler  180  in the following manner. The cavity  184  in this implementation has a narrow portion (or “wall protrusion”)  212  defined in the inner wall  210  of the cavity  184 . Further, the inner wall  210  also has a wider portion (or “channel”)  214  defined in the inner wall proximal to the wall protrusion  212 . The actuable locking ring  186  has a corresponding external ring protrusion (also referred to herein as a “fin”)  218  extending from an outer wall  216  of the ring  186 . In certain embodiments, as the actuable locking ring  186  is moved laterally within the cavity  184 , the position of the ring fin  218  in relation to the inner wall channel  214  and the wall protrusion  212  can directly influence the inner diameter of the ring  186 . That is, if the ring  186  is disposed within the cavity  184  such that the fin  218  is disposed in the channel  214 , the ring  186  has a relatively larger inner diameter. However, if the ring  186  is moved distally within the cavity  184  such that the fin  218  is moved toward the wall protrusion  212 , the fin  218  will be urged radially inward, thereby causing the inner diameter of the ring  186  to become smaller. As such, the interaction between the locking ring  186  and the inner wall of the cavity  184  when the locking ring  186  is moved between a locked and an unlocked position causes the inner diameter of the locking ring  186  to be altered, thereby either increasing or reducing the contact friction between the inner wall  220  of the ring  186  and any tool body (such as tool body  232 ) disposed therein. 
     Further, the actuable locking ring  186  can also have coupling blades (not shown) disposed along the inner wall  220  of the ring  186  that are configured to enhance the retention of the tool body within the cavity  184  when the inner wall  220  is in contact with the tool body  232 . Alternatively, any component or feature can be used that can help to maintain the physical coupling or frictional retention between the inner wall  220  of the ring  186  and the tool body  232 . 
     In use according to one embodiment as best shown in  FIG. 1A-1C  in combination with  FIGS. 5A and 5B , when the locking ring (such as ring  186 ) is in the locked position as best shown with locking ring  22  in  FIG. 1A , the ring fin  218  is disposed adjacent to and in contact with the wall protrusion  212 , thereby resulting in a smaller inner diameter of the ring  186  and thus increased contact between the inner wall  220  of the ring  186  and the tool body (such as tool body  30  or tool body  232 ) disposed therein. This increased contact, along with any retention feature on the inner wall  220  (such as, for example, the retention blades discussed above), results in the tool body (such as body  30  or body  232 ) being locked or otherwise retained in the coupler  180  (or coupler  12 ) by the locking ring  186  (or ring  22 ). Further, as a result of the configuration of the inner wall  210  of the cavity  184  and the configuration of the ring  186 , any distal force applied to the tool body  30 ,  180  will also urge the ring  186  distally as a result of the contact friction between the body  30 ,  180  and the ring  186 , thereby increasing the contact friction between the ring  186  and the body  30 ,  180 . That is, the configuration of the cavity  184  and ring  186  is such that any distal force applied to the tool body  30 ,  180  actually increases the strength of the locking mechanism. 
     When the locking ring (such as ring  186 ) is urged into the unlocked position as best shown in  FIGS. 1B and 1C  (with respect to ring  22 ) and  FIGS. 5A and 5B  (with respect to ring  186 , the ring fin  218  is disposed in the channel  214 , thereby resulting in a larger inner diameter of the ring  186  (by comparison with the ring  186  in the locked position) and thus decreased (or no) contact between the inner wall  220  of the ring  186  and the tool body (such as tool body  30  or tool body  232 ) disposed therein. This reduction or elimination of contact results in the tool body (such as body  30  or body  232 ) being removable from the coupler  180  (or coupler  12 ). 
     In this embodiment as shown in  FIGS. 5A and 5B , the outer drive component  194  is supplied with an electrical connection via a first electrical contact (also called a “spring pin”)  234  that is configured to maintain contact with the drive component  194  while the component  194  is rotating. That is, the spring pin  234  is positioned in the coupler  180  such that it remains in contact with the drive component  194  even when the drive component  194  is actuated to rotate. Further, the spring pin  234  has a force mechanism  238 —in this case, a compression spring—that urges the spring pin  234  toward the drive component  194 , thereby further ensuring that contact is maintained. 
     The insulation layer  196  is positioned between the inner drive component  192  and the outer drive component  194  such that the insulation layer  196  electrically isolates the two drive components  192 ,  194  from each other. The electrical isolation results in two independent electrical conduction paths to any tool (such as tool  230 ) coupled to the coupler  180  for potential bipolar capability. 
     According to the embodiment depicted, the inner drive component  192  is supported by two bearings  240 ,  242 . Further, the coupler  180  has a second electrical contact (also called a “spring pin”)  244  disposed between the two bearings  240 ,  242  that is in contact with the inner drive component  192 . The second spring pin  244  has a force mechanism  246 —in this case, a compression spring—that urges the spring pin  244  toward the drive component  192 , thereby further ensuring that contact is maintained. As such, the second spring pin  244  provides the second independent electrical source for the tool (such as tool  230 ) coupled to the coupler  180 . Further, the coupler  180  also has a retaining ring  248  that is positioned in the coupler  180  such that it constrains the inner drive component  192  from translating laterally. 
     In this implementation, the central tube  188  can be used for suction/irrigation, drug delivery, tool delivery, clip application, and/or other known functions or procedures. 
     In alternative embodiments, the coupler can provide only one electrical connection (instead of two), thereby eliminating the need for electrical isolation and insulation between components. In further alternatives, the coupler can have three or more electrical connections to provide three or more separate, independent electrical sources for three different uses in the tool (such as tool  230 ). 
     The coupler embodiments discussed above have included two drive components (an inner drive component and an outer drive component). Alternative coupler embodiments could have three or more drive components. In further alternatives, a coupler embodiment could have one drive component. 
     The various coupler embodiments disclosed herein can be utilized to simplify various surgical procedures. For example, in those implementations in which medical device is a robotic surgical device, a quick-change coupler on an arm of the surgical device could allow for exchanging end effectors while the arm of the device is positioned within a cavity of the patient. In one such situation, a separate device having at least one additional end effector positioned thereon is positioned in the patient&#39;s cavity and operates in conjunction with the device arm and coupler to effect the exchange of one end effector for another on the arm. Alternatively, a separate external device can be inserted into the patient&#39;s cavity through a separate or auxiliary port and/or trocar and operates to remove or un-install the end effector from the arm of the robotic device and retract it from the cavity. The new end effector is then attached to the external tool, the tool is re-inserted into the cavity, and the tool operates in conjunction with the device arm to install or attach the new end effector to the coupler. 
     Although the various implementations herein been described with reference to preferred embodiments, persons skilled in the art will recognize that changes may be made in form and detail without departing from the spirit and scope of the inventions.