Patent Publication Number: US-8974440-B2

Title: Modular and cooperative medical devices and related systems and methods

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to Provisional Application No. 60/956,032, filed Aug. 15, 2007; Provisional Application No. 60/990,076, filed Nov. 26, 2007; Provisional Application No. 60/990,106, filed Nov. 26, 2007; Provisional Application No. 61/025,346, filed Feb. 1, 2008; and Provisional Application No. 61/030,617, filed Feb. 22, 2008, all of which are hereby incorporated herein by reference in their entireties. 
    
    
     GOVERNMENT SUPPORT 
     This invention was made with government support under Grant No. R21EB5663-2, awarded by the National Institute of Biomedical Imaging and Bioengineering within the National Institutes of Health. Accordingly, the government has certain rights in the invention. 
    
    
     TECHNICAL FIELD 
     The embodiments disclosed herein relate to various medical devices and related components, including robotic and/or in vivo medical devices and related components. Certain embodiments include various modular medical devices, including modular in vivo and/or robotic devices. Other embodiments relate to modular medical devices in which the various modular components are segmented components or components that are coupled to each other. Further embodiment relate to methods of operating the above devices, including methods of using various of the devices cooperatively. 
     BACKGROUND 
     Invasive surgical procedures are essential for addressing various medical conditions. When possible, minimally invasive procedures such as laparoscopy are preferred. 
     However, known minimally invasive technologies such as laparoscopy are limited in scope and complexity due in part to 1) mobility restrictions resulting from using rigid tools inserted through access ports, and 2) limited visual feedback. Known robotic systems such as the da Vinci® Surgical System (available from Intuitive Surgical, Inc., located in Sunnyvale, Calif.) are also restricted by the access ports, as well as having the additional disadvantages of being very large, very expensive, unavailable in most hospitals, and having limited sensory and mobility capabilities. 
     There is a need in the art for improved surgical methods, systems, and devices. 
     SUMMARY 
     One embodiment disclosed herein relates to a modular medical device or system having at least one modular component configured to be disposed inside a cavity of a patient. The modular component has a body, an operational component, and a coupling component. In a further embodiment, the modular component can be coupled at the coupling component to a second modular component. In a further alternative, a third modular component can be coupled to the first and second modular components. 
     Another embodiment disclosed herein relates to a modular medical device or system having a body configured to be disposed inside a cavity of a patient. The device also has at least a first modular component coupleable to the body, the first modular component having a first operational component. In another embodiment, the device also as a second modular component coupleable to the body, the second modular component having a second operational component. In further alternatives, the device can also have third and fourth modular components or more. 
     Yet another embodiment disclosed herein relates to a modular medical device or system having a first modular component, a second modular component, and a third modular component. In one embodiment, the three modular components are pivotally connected to each other in a triangular configuration. In this embodiment, the first and third components can be coupled together at a releasable mating connection. According to one embodiment, each of the modular components has an inner body and an outer body, wherein the inner body is rotatable in relation to the outer body. In addition, each modular component has an operational component associated with the inner body. In accordance with another implementation, each of the inner and outer bodies comprise an opening, and each of the inner bodies is rotatable to position the inner and outer openings in communication, whereby the operational components are accessible. In a further alternative, each pivotal connection of the device or system has a mechanism configured to urge the mating or coupling connections at the ends of the first and third components into contact. Alternatively, the device has four modular components that are pivotally connected to each other in a quadrangular configuration. In further alternatives, additional modular components can be pivotally connected to each other. 
     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 perspective view of a modular medical device, according to one embodiment. 
         FIG. 1B  is a side view of the modular medical device of  FIG. 1A . 
         FIG. 1C  is a front view of the modular medical device of  FIG. 1A . 
         FIG. 2A  depicts a perspective view of a modular component, according to one embodiment. 
         FIG. 2B  depicts a close-up perspective view of a portion of the modular component of  FIG. 2A . 
         FIG. 3  is a perspective view of another modular component, according to another embodiment. 
         FIG. 4  is a front cutaway view of another modular component, according to a further embodiment. 
         FIG. 5A  is a perspective view of a modular medical device control system, according to one embodiment. 
         FIG. 5B  is a front cutaway view of the system of  FIG. 5A . 
         FIG. 6A  is a perspective view of a modular medical device control and visualization system, according to one embodiment. 
         FIG. 6B  is a front cutaway view of the system of  FIG. 6A . 
         FIG. 7A  is a perspective cutaway view of a modular medical device control and visualization system, according to another embodiment. 
         FIG. 7B  is a front cutaway view of the system of  FIG. 7A . 
         FIG. 8A  is a perspective view of a modular medical device, according to another embodiment. 
         FIG. 8B  is another perspective view of the device of  FIG. 8A . 
         FIG. 9  is a perspective view of another modular medical device, according to a further embodiment. 
         FIG. 10  is a perspective view of a further modular medical device, according to another embodiment. 
         FIG. 11  is a perspective view of another modular medical device, according to one embodiment. 
         FIG. 12A  is a perspective view of another modular medical device, according to a further embodiment. 
         FIG. 12B  is a close-up perspective view of a part of the device of  FIG. 12A . 
         FIG. 12C  is another perspective view of the device of  FIG. 12A . 
         FIG. 13  is a perspective view of a further modular medical device, according to another embodiment. 
         FIG. 14  is a perspective view of the disassembled components of another modular medical device, according to one embodiment. 
         FIG. 15  is a perspective view of the disassembled components of a further modular medical device, according to another embodiment. 
         FIG. 16  is a perspective view of the disassembled components of a further modular medical device, according to another embodiment. 
         FIG. 17  is a perspective view of an assembled modular medical device, according to a further embodiment. 
         FIG. 18A  is a front view of a modular medical device with a payload space, according to one embodiment. 
         FIG. 18B  is another front view of the device of  FIG. 18A . 
         FIG. 19A  is a perspective view of a modular medical device, according to another embodiment. 
         FIG. 19B  is a perspective bottom view of the device of  FIG. 19A . 
         FIG. 20A  is a perspective top view of the device of  FIG. 19A . 
         FIG. 20B  is a perspective side view of the device of  FIG. 19A . 
         FIG. 20C  is a perspective close-up view of a portion of the device of  FIG. 19A . 
         FIG. 21  is a perspective bottom view of the device of  FIG. 19A . 
         FIG. 22  is a perspective side view of the device of  FIG. 19A . 
         FIG. 23  is a top view of the device of  FIG. 19A . 
         FIG. 24  is a perspective view of modular medical device control and visualization system, according to one embodiment. 
         FIG. 25  is a perspective view of a modular medical device, according to one embodiment. 
         FIG. 26  is a perspective cutaway view of various medical devices operating cooperatively in a body cavity, according to one embodiment. 
         FIG. 27  is a perspective cutaway view of various medical devices operating cooperatively in a body cavity, according to another embodiment. 
         FIG. 28  is a perspective cutaway view of various medical devices operating cooperatively in a body cavity, according to a further 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 various modular or combination medical devices, including modular in vivo and robotic devices and related methods and systems, while other embodiments relate to various cooperative medical devices, including cooperative in vivo and robotic devices and related methods and systems. 
     It is understood that the various embodiments of modular and cooperative 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 can be incorporated into or used with any of the medical devices and systems disclosed in copending U.S. application Ser. No. 11/932,441 (filed on Oct. 31, 2007 and entitled “Robot for Surgical Applications”), Ser. No. 11/695,944 (filed on Apr. 3, 2007 and entitled “Robot for Surgical Applications”), Ser. No. 11/947,097 (filed on Nov. 27, 2007 and entitled “Robotic Devices with Agent Delivery Components and Related Methods), Ser. No. 11/932,516 (filed on Oct. 31, 2007 and entitled “Robot for Surgical Applications”), Ser. No. 11/766,683 (filed on Jun. 21, 2007 and entitled “Magnetically Coupleable Robotic Devices and Related Methods”), Ser. No. 11/766,720 (filed on Jun. 21, 2007 and entitled “Magnetically Coupleable Surgical Robotic Devices and Related Methods”), Ser. No. 11/966,741 (filed on Dec. 28, 2007 and entitled “Methods, Systems, and Devices for Surgical Visualization and Device Manipulation”), Ser. No. 12/171,413 (filed on Jul. 11, 2008 and entitled “Methods and Systems of Actuation in Robotic Devices”), 60/956,032 (filed on Aug. 15, 2007), 60/983,445 (filed on Oct. 29, 2007), 60/990,062 (filed on Nov. 26, 2007), 60/990,076 (filed on Nov. 26, 2007), 60/990,086 (filed on Nov. 26, 2007), 60/990,106 (filed on Nov. 26, 2007), 60/990,470 (filed on Nov. 27, 2007), 61/025,346 (filed on Feb. 1, 2008), 61/030,588 (filed on Feb. 22, 2008), and 61/030,617 (filed on Feb. 22, 2008), all of which are hereby incorporated herein by reference in their entireties. 
     Certain device implementations disclosed in the applications listed above can be positioned within a body cavity of a patient, including certain devices that can be positioned against or substantially adjacent to an interior cavity wall, and related systems. 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 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 implementations disclosed herein relate to modular medical devices that can be assembled in a variety of configurations. 
       FIGS. 1A-1C  depict an exemplary “combination” or “modular” medical device  10 , according to one embodiment. 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 combination device  10  shown in  FIGS. 1A-1C  has three modular components  12 ,  14 ,  16  coupled or attached to each other. More specifically, the device  10  has two robotic arm modular components  12 ,  14  and one robotic camera modular component  16  disposed between the other two components  12 ,  14 . In this implementation, the modular component  16  contains an imaging component (not shown) and one or more lighting components (not shown), while each of the other modular components  12 ,  14  have an arm  24 ,  26  respectively and do not contain any lighting or imaging components. That is, in this embodiment, the modular component  16  is a modular imaging and lighting component  16  while the two modular components  12 ,  14  are modular arm components  12 ,  14 . In the resulting configuration, the components  12 ,  14 ,  16  are coupled or attached to each such that the camera component  16  is disposed between the two modular arm components  12 ,  14 . As will be discussed in further detail below, this configuration of the components  12 ,  14 ,  16  is merely one of several possible configurations of such modular components. 
     In accordance with one embodiment, the strategic positioning of various operational components in the combination device  10  in  FIGS. 1A-1C  results in an optimization of the volume in each of the individual components  12 ,  14 ,  16 . That is, the space in modular components  12 ,  14  that would have been required for an imaging component and/or a lighting component is instead utilized for larger and/or more complex actuators or other components. If larger or more complex actuators are utilized in both modular components  12 ,  14 , greater force can be applied to each arm  24 ,  26 , thereby making it possible for the combination device  10  to perform additional procedures that require greater force. 
     In comparison to the space optimization advantage of the combination device  10 , a non-combination device must have all the necessary components such as imaging and illumination components in the device body along with the actuators, thereby reducing the space available and requiring that the actuators and other components be small enough such that they all fit in the device together. 
     According to one alternative embodiment, the additional space available in the combination device  10  created by the space optimization described above could be used to provide for more sophisticated components such as more complex camera focusing mechanisms or mechanisms to provide zoom capabilities. In a further alternative, the various components could be distributed across the modular components  12 ,  14 ,  16  of the combination device  10  in any fashion. For example, the illumination and imaging components could be both positioned in either modular component  12  or  14 . Alternatively, one of the illumination and imaging components could be disposed in any one of the three modular components  12 ,  14 ,  16  and the other component could be disposed in one of the other three components  12 ,  14 ,  16 . It is understood that any possible combination of various components such as illumination, actuation, imaging, and any other known components for a medical device can be distributed in any combination across the modular components of any combination device. 
     Another advantage of the combination devices such as that shown in  FIGS. 1A-1C , according to one implementation, is the capacity to increase the number of a particular type of component in the device. For example, one embodiment of a combination device similar to the device  10  in  FIGS. 1A-1C  could have lighting components on more than one of the modular components  12 ,  14 ,  16 , and further could have more than one lighting component on any giving modular component. Thus, the combination device could have a number of lighting components ranging from one to any number of lighting components that could reasonably be included on the device. The same is true for any other component that can be included in two or more of the modular components. 
     In accordance with a further embodiment, another possible advantage of the various combination device embodiments disclosed herein relates to the fact that the various separable modular components (instead of one larger device) simplifies insertion because each component separately is shorter and less complex. Thus, each component individually has a smaller cross-section and can be inserted into a body cavity through a smaller incision, port, or any other known delivery device than the larger, non-combination device. 
     It is understood that, according to various embodiments, a combination device such as the device  10  depicted in  FIGS. 1A-1C  could have additional modular components coupled thereto. Thus, the device could have additional arms or other modular components such as, for example, one or more of a sensing modular component, an illumination modular component, and/or a suction/irrigation modular component. 
     In use, modular components (such as, for example, components  12 ,  14 ,  16  of  FIGS. 1A ,  1 B, and  1 C) are each separately inserted into the target cavity of a patient. Typically, each of the components are inserted through a laparoscopic port, an incision, or a natural orifice. Alternatively, the components are inserted by any known method, procedure, or device. Once each of the desired components (which could range from one to several components) is positioned in the target cavity, the components can be assembled into a combination device such as, for example, the combination device  10  depicted in  FIGS. 1A-1C , by coupling the components together in a desired configuration. After the procedure has been performed, the components of the combination device can be decoupled and each separately removed. Alternatively, once a portion of a procedure is performed, one or more of the components can be decoupled and removed from the cavity and one or more additional components can be inserted into the cavity and coupled to the combination device for one or more additional procedures for which the component replacement was necessary. 
     The various modular component embodiments disclosed herein can be coupled to create a combination device in a variety of ways. To configure the combination device  10  as shown in  FIG. 1A , the exemplary modular components  12 ,  14 ,  16  each have four mating or coupling components as best shown in  FIGS. 2A ,  2 B, and  3 . 
     In  FIGS. 2A and 2B , the modular component  16  provides one example of an attachment mechanism for coupling modular components together. That is, the device  16  has four mating or coupling components  34 A,  34 B,  35 A, (and  35 B, which is not shown) for coupling to other devices or modular components. In this embodiment as best shown in  FIG. 2A , there are two coupling components  34 ,  35  at each end of the device  30 , with two components  34 A,  34 B at one end and two more at the other end (depicted as  35 A and another such component on the opposite side of the component  16  that is not visible in the figure). Alternatively, the modular component  16  can have one coupling component, two coupling components, or more than two coupling components. 
     To better understand the coupling components of this embodiment,  FIG. 2B  provides an enlarged view of one end of the device  16 , depicting the male coupling component  34 A and female coupling component  34 B. The male component  34 A in this embodiment is configured to be coupleable with a corresponding female component on any corresponding modular component, while the female component  34 B is configured to be coupleable with a corresponding male component on any corresponding modular component. 
     It is understood that the mechanical male/female coupling components discussed above are merely exemplary coupling mechanisms. Alternatively, the components can be any known mechanical coupling components. In a further alternative, the coupling components can also be magnets that can magnetically couple with other magnetic coupling components in other modular components. In a further embodiment, the coupling components can be a combination of magnets to help with initial positioning and mechanical coupling components to more permanently couple the two modules. 
     Returning to the embodiment depicted in  FIG. 1A , two modular components  12 ,  14 , each having an arm  24 ,  26  (respectively), are coupled to the modular component  16 .  FIG. 3  depicts component  12 , but it is understood that the following discussion relating to modular component  12  applies equally to component  14 . Modular component  12  as shown in  FIG. 3  has male/female coupling components  44 ,  45  that can be coupled to component  16  as discussed above. Alternatively, as discussed above, any known coupling components can be incorporated into this component  12  for coupling with other modular components. 
     According to one implementation, the arm  24  in the embodiment of  FIG. 3  provides the four degrees of freedom (“DOF”). These four degrees of freedom include three rotations and one extension. Two rotations occur about the joint  42 . The third rotation occurs along the axis of the arm  24 . The extension also occurs along the axis of the arm  24 . Alternatively, any known arm implementation for use in a medical device can be used. 
       FIG. 4  depicts an alternative exemplary embodiment of modular component  12 . In this implementation, the actuator components  54 A,  54 B,  56 A,  56 B are depicted in the component  12 . That is, two actuators  54 A,  54 B are provided in the body of the device  12 , while two additional actuators  56 A,  56 B are provided in the arm  24 . According to one embodiment, actuators  54 A,  54 B are configured to actuate movement of the arm  24  at the shoulder joint  58 , while actuators  56 A,  56 B are configured to actuate movement at the arm  24 . Alternatively, it is understood that any configuration of one or more actuators can be incorporated into a modular component to actuate one or more portions of the component or device. 
     In accordance with further implementations, it is understood that the various modular components discussed herein can contain any known operational components contained in any non-modular medical device. For example, the modular component  16  has a camera  32  and further can have all of the associated components and/or features of the modular components or medical devices discussed above, including the medical devices and components disclosed in the applications incorporated above. 
     In use, the various modular components and combination devices disclosed herein can be utilized with any known medical device control and/or visualization systems, including those system disclosed in the applications incorporated above. These modular components and combination devices can be utilized and operated in a fashion similar to any medical devices disclosed in those applications. For example, as shown in  FIGS. 5A and 5B , a combination device or modular component  60  can be utilized with an external magnetic controller  62 . In this embodiment, the device  60  has magnetic components (not shown) that allow the device  60  to be in magnetic communication with the external controller  62 . It is understood that the device  60  can operate in conjunction the external controller  62  in the same fashion described in the applications incorporated above, such that the external controller  62  is located on an external surface  66 A of a patient&#39;s cavity wall  64  while the combination device  60  is positioned against the internal surface  66 B of the cavity wall  64 . 
     In use, the various modular components and combination devices disclosed herein can be utilized with any known medical device control and/or visualization systems, including those system disclosed in the applications incorporated above. These modular components and combination devices can be utilized and operated in a fashion similar to any medical devices disclosed in those applications. For example, as shown in  FIGS. 5A and 5B , a combination device or modular component  60  can be utilized with an external magnetic controller  62 . In this embodiment, the device  60  has magnetic components (not shown) that allow the device  60  to be in magnetic communication with the external controller  62 . It is understood that the device  60  can operate in conjunction the external controller  62  in the same fashion described in the applications incorporated above. 
     In another similar example as depicted in  FIGS. 6A and 6B , a combination device or modular component  70  can be utilized with an external controller and visualization component  72 . In this embodiment, the device  70  has magnetic components (not shown) that allow the device  70  to be in magnetic communication with the external controller  72  and further has arms  74 A,  74 B that can be operated using the controller  72 . It is understood that the device  70  can operate in conjunction the external component  72  in the same fashion described in the applications incorporated above, such that the external controller  72  is located on an external surface  78 A of a patient&#39;s cavity wall  76  while the combination device  70  is positioned against the internal surface  78 B of the cavity wall  76 . 
     In another similar example as depicted in  FIGS. 6A and 6B , a combination device or modular component  70  can be utilized with an external controller and visualization component  72 . In this embodiment, the device  70  has magnetic components (not shown) that allow the device  70  to be in magnetic communication with the external controller  72  and further has arms  74 A,  74 B that can be operated using the controller  72 . It is understood that the device  70  can operate in conjunction the external component  72  in the same fashion described in the applications incorporated above. 
     According to one implementation, a modular device can be used for a variety of surgical procedures and tasks including, but not limited to, tissue biopsy and tissue retraction. For example, as shown in  FIGS. 7A and 7B  in accordance with one embodiment, a device  80  having a grasper  82  can be used to retract the gall bladder  84  during a cholecystectomy procedure. 
     In accordance with one alternative, any of the modular components disclosed herein can be assembled into the combination device prior to insertion into the patient&#39;s cavity. One exemplary embodiment of such a combination device is set forth in  FIGS. 8A and 8B , which depict a combination device  120  having modular components  122 A,  122 B,  122 C,  122 D,  122 E that are coupled to each other using hinge or rotational joints  124 A,  124 B,  124 C,  124 D,  124 E (as best shown in  FIG. 8B ). This device  120  as shown can fold together or otherwise be configured after insertion as shown in  FIG. 8A . One advantage of this embodiment, in which the modular components  122 A- 122 E are coupled to each other, is that in vivo assembly of the combination device  120  is simplified. 
     In a further alternative embodiment as best shown in  FIG. 9 , any of the modular components disclosed or contemplated herein are inserted separately into the target cavity and subsequently assembled with the modular components being connected end-to-end (in contrast to a side-by-side configuration similar to that depicted in  FIGS. 1A-1C ). More specifically, the combination device  130  in  FIG. 9  has three modular components  132 ,  134 ,  136 . One of the components is a camera modular component  132 , while the other two are robotic arm modular components  134 ,  136 . These three components  132 ,  136 ,  136  are connected to form the tripod-like combination device  130  as shown. 
     In yet another implementation,  FIG. 10  depicts another combination device  140  having a generally triangular configuration. That is, the device  140  has three arm modular components  142 ,  144 ,  146  that are coupled together end-to-end, with each component  142 ,  144 ,  146  having an arm  148 ,  147 ,  149 , respectively. In one embodiment, the three-armed robot could be assembled using three one-arm segments as shown in  FIG. 10 . Alternatively, the three-armed robot could be assembled by linking three modular bodies end-to-end and coupling an arm component to each linkage of the modular bodies. 
     Alternatively, additional modular components could be added to a tripod-like combination device such as the devices of  FIGS. 9 and 10 . For example, one or more additional modular components could be positioned adjacent and parallel to one or more of the three previously-coupled modular components such that one or more side of the three sides have a “stacked” configuration with at least two modular components stacked next to each other. 
     As mentioned above, according to one embodiment, a particularly useful aspect of using modular medical devices during medical procedures, including modular robotic and/or in vivo devices as described herein, is the ability to insert multiple modular components, such as any of the modular components described or contemplated herein, into a patient&#39;s body and subsequently assemble these into a more complex combination device in vivo. In one implementation, more than one modular component is inserted or positioned in the patient&#39;s body (through a natural orifice or more conventional methods) and then the components are either surgically assembled or self-assembled once inside the patient&#39;s body, in a location such as the peritoneal cavity, for example. 
     Surgical (or procedural) assembly can involve the surgeon attaching the modular components by using standard laparoscopic or endoscopic tools, or could involve the surgeon using specifically developed tools for this purpose. Alternatively, surgical assembly could instead or further include the surgeon controlling a robotic device disposed within the patient&#39;s body or exterior to the body to assemble the modular components. Self assembly, on the other hand, can involve the modular components identifying each other and autonomously assembling themselves. For example, in one embodiment of self assembly, the modular components have infrared transmitters and receivers that allow each component to locate attachment points on other components. In another example, each modular component has a system that utilizes imaging to identify patterns on other modular components to locate attachment points on those other components. In a further alternative, assembly could also include both surgical and self-assembly capabilities. 
     After the surgical procedure is completed, the components are disassembled and retracted. Alternatively, the robotic device or system can be configurable or reconfigurable in vivo to provide different surgical features during different portions of the procedure. That is, for example, the components of the device or devices can be coupled together in one configuration for one procedure and then disassembled and re-coupled in another configuration for another procedure. 
     One further exemplary embodiment of a suite of modular components is set forth in  FIGS. 11-17 . It is understood that such a suite of components can be made available to a surgeon or user, and the surgeon or user can utilize those components she or he desires or needs to create the combination device desired to perform a particular procedure. In one embodiment, since the devices and components are modular, the user (or team) can assemble the procedure-specific robotic device or devices in vivo at the onset of the procedure. 
     The modular components can include any known procedural or operational component, including any component discussed elsewhere herein (such as those depicted in  FIGS. 1A-4 , and/or  8 A- 10 ) or any component disclosed in the applications incorporated above that can be used as modular component. For example, the various modular components depicted in  FIGS. 11-17  include a variety of different operational components or other types of components. 
     More specifically,  FIGS. 11-13  depict various modular combination device embodiments having a body that is coupled to at least one arm component and a lockable tube. For example,  FIG. 11  shows a combination device  150  having a body  152  coupled to three operational arm components  154 A,  154 B,  154 C, and a lockable tube  156 . In one aspect, the body  152  can also have at least one magnet  158  (or two magnets as depicted in the figure) that can be used to position the device within the patient&#39;s cavity. That is, according to one implementation similar to those described above in relation to other devices, the magnet(s)  158  can be magnetically coupled to an external magnet controller or visualization component to position the device  150 . 
     The lockable tube  156  can be a reversibly lockable tube as disclosed in U.S. application Ser. No. 12/171,413, filed on Jul. 11, 2008, which is incorporated by reference above. The tube  156  and device  150  can be operated in any fashion as described in that application. Alternatively, the tube  156  can be a flexible tube that can be stabilized or held in place using a series of magnets adjacent to or near the flexible tube or a series of needles inserted through the external wall of the patient&#39;s body. For example, magnets can be positioned in one or more of the modular components of the flexible tube. In use, one or more magnets are positioned externally with respect to the target cavity in such a fashion as to position the tube and/or robotic device into the desired location. 
     In use, as also described in the above-incorporate application, a reversibly lockable tube and robotic device (such as, for example, the tube  156  and device  150  depicted in  FIG. 11 ) can be used together to accomplish various tasks. That is, the tube can be operably coupled to the device (as shown in  FIG. 11 , for example) and contain any required connection components such as connections for hydraulic, pneumatic, drive train, electrical, fiber optic, suction, or irrigation systems, or any other systems or connections that require physical linkages between the device positioned in the patient&#39;s body and some external component or device. In one embodiment, the robotic device is first positioned at the desired location in the patient&#39;s body and then the tube is inserted and connected to the device. Alternatively, the robotic device can be coupled to the tube prior to insertion, and then both the device and the tube are inserted into the patient&#39;s body and the device is then positioned at the desired location. 
       FIGS. 12A-12C  depict another embodiment of a combination device coupled to a lockable tube. More specifically,  FIGS. 12A ,  12 B, and  12 C depict a combination device  160  having a body  162  coupled to one operational arm component  164  and a lockable tube  166 . As with the device in  FIG. 11 , the body  162  has two magnets  168  that can be used in conjunction with an external magnet controller to position the device  160  and tube  166  as desired by the user. Alternatively, the body  162  can have one magnet or more than two magnets. In addition, according to one embodiment as best shown in  FIG. 12A , the device  160  and the tube  166  can be initially unattached. Prior to use, the body  162  and tube  166  can be coupled as best shown in  FIG. 12B . In one embodiment, the body  162  and tube  166  can be coupled prior to insertion or alternatively can be coupled after the device  160  and tube  166  have been positioned in the desired location in the patient&#39;s body. 
       FIG. 13  shows another embodiment of another combination device  170  similar to those depicted in  FIGS. 11-12C  except that the body  172  is coupled to the tube  174  at a location along the body  172  rather than at an end of the body  172 . It is further understood that a tube as disclosed herein can be coupled to any of these combination devices at any point along the body or any of the modular components. 
     Another example of a combination device that is made up a suite of modular components is set forth in  FIG. 14 . The combination device  180  has an imaging modular component  182  (also referred to as a “module”), two cautery arms or modules  184 A,  184 B, and two grasper arms or modules  186 A,  186 B. It is understood that the imaging module  182  in this embodiment is the body  182  of the device  180 , but could also be an arm in another implementation. It is further understood that the various modules  184 ,  186  coupled to the device  180  could be configured in any configuration. 
     An alternative combination device embodiment utilizing various modules from a suite of modular components is depicted in  FIG. 15 . This device  190  has an imaging module  192 , a cautery module  194 , a grasper module  196 , and a lighting module  198 . Similarly,  FIG. 16  depicts yet another alternative combination device  200  having an imaging module  202 , a lighting module  204 , a cautery module  206 , and two grasper modules  208 . 
       FIG. 17  depicts a further alternative implementation of a fully assembled combination device  210  having a body  212 , two cautery modules  214 A,  214 B, and two grasper modules  216 A,  216 B. As shown in the figure, each of the modules is coupled to the body via a hinge coupling  218 A,  218 B,  218 C,  218 D. Alternatively, the coupling can be any known coupling, including, for example, a pivotal coupling. In a further alternative, the non-arm modules can be substantially or removably fixed to the body component, such as the lighting module  204  depicted in  FIG. 16 . 
     It is understood that any number of additional exemplary modular components could be included in the suite of modular components available for use with these devices. For example, various additional exemplary modules include, but are not limited to, an imaging module, a sensor module (including a pH, humidity, temperature, and/or pressure sensor), a stapler module, a UV light module, an X-ray module, a biopsy module, or a tissue collection module. It is understood that “module” is intended to encompass any modular component, including an arm or a body as discussed above. 
     In one embodiment, the mechanical and electrical couplings between the modular robotic sections are universal to help facilitate ease of assembly. That is, the couplings or connections are universal such that the various modules can be easily and quickly attached or removed and replaced with other modules. Connections can include friction fits, magnets, screws, locking mechanisms and sliding fitting. Alternatively, the connections can be any known connections for use in medical devices. In use, the couplings can be established by the surgeon or user according to one implementation. Alternatively, the couplings can be semi-automated such that the components are semi-self-assembling to improve timeliness. 
     Modular components need not be arms or other types of components having operational components or end effectors. According to various alternative embodiments, the modular components can be modular mechanical and electrical payload packages that can be used together in various combinations to provide capabilities such as obtaining multiple tissue samples, monitoring physiological parameters, and wireless command, control and data telemetry. It is understood that the modular payload components can be incorporated into all types of medical devices, including the various medical devices discussed and incorporated herein, such as magnetically controllable devices and/or wheeled devices similar to those disclosed in the applications incorporated above. 
       FIG. 18A  shows one embodiment of a device  220  having a payload area  222  that can accommodate various modular components such as environmental sensors, biopsy actuator system, and/or camera systems. More specifically, the payload area  222  is configured to receive any one of several modular components, including such components as the sensor, controller, and biopsy components discussed herein. It is understood that in addition to the specific modular components disclosed herein, the payload areas of the various embodiments could receive any known component to be added to a medical procedural device. 
     It is further understood that the robotic device having the payload area can be any known robotic device, including any device that is positioned substantially adjacent to or against a patient cavity wall (such as via magnetic forces), and is not limited to the robotic devices described in detail herein. Thus, while the robotic device embodiments depicted in  FIGS. 18A and 18B  (discussed below) are mobile devices having wheels, the various modular components described herein could just as readily be positioned or associated with a payload area in any other kind of robotic device or can further be used in other medical devices and applications that don&#39;t relate to robotic devices. 
     Returning to  FIG. 18A , in this embodiment, the device is not tethered and is powered by an onboard battery  224 . Commands can be sent to and from the device using an RF transceiver placed on a circuit board  226 . Alternatively, the device  220  can be tethered and commands and power can be transmitted via the tether. 
     In the embodiment of  FIG. 18A , the wheels  228 A and  228 B are powered by onboard motors  230 A and  230 B. Alternatively, the wheels  228 A,  228 B and other components can be actuated by any onboard or external actuation components. The wheels  228  in this implementation are connected to the motors  230  through a bearing  232  and a set of spur gears  234  and  236 . Alternatively, any known connection can be used. The use of independent wheels allows for forward, reverse, and turning capabilities. In this embodiment, a small retraction ball  238  is attached to the outside of each wheel for retraction using a surgical grasper. Alternatively, no retraction component is provided. In a further alternative, any known retraction component can be included. 
       FIG. 18B  shows yet another embodiment of a device  240  having a payload area  242 . In this embodiment, the modular component in the payload area  242  is a sensor component. It is further understood that, according to various other implementations, more than one modular component can be positioned in the payload area  242  of this device  240  or any other device having a payload area. For example, the payload area  242  could include both a biopsy component and a sensor component, or both a biopsy component and a controller component. Alternatively, the payload area  242  could include any combination of any known functional components for use in procedural devices. 
     In accordance with one implementation, one component that can be included in the payload area  242  is a sensor package or component. The sensor package can include any sensor that collects and/or monitors data relating to any characteristic or information of interest. In one example, the sensor package includes a temperature sensor. Alternatively, the package includes an ambient pressure sensor that senses the pressure inside the body cavity where the device is positioned. In a further alternative, the package can include any one or more of a relative humidity sensor, a pH sensor, or any other known type of sensor for use in medical procedures. 
     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. 19A-24  depict a multi-segmented medical device  250 , in accordance with one implementation. According to one embodiment, the device  250  is a robotic device  250  and further can be an in vivo device  250 . This device embodiment  250  as shown includes three segments  252 A,  252 B,  254 . Segments  252 A and  252 B are manipulator segments, while segment  254  is a command and imaging segment. Alternatively, the three segments can be any combination of segments with any combination of components and capabilities. For example, according to an alternative embodiment, the device could have one manipulator segment, one command and imaging segment, and a sensor segment. In a further alternative, the various segments can be any type of module, including any of those modules described above with respect to other modular components discussed herein. 
     As best shown in  FIGS. 19A and 19B , segments  252 A,  252 B are rotatably coupled with the segment  254  via joints or hinges  256 A,  256 B. More specifically, segment  252 A is rotatable relative to segment  254  about joint  256 A around an axis as indicated by arrow B in  FIG. 19B , while segment  252 B is rotatable relative to segment  254  about joint  256 B around an axis as indicated by arrow C in  FIG. 19B . 
     In accordance with one embodiment, the device  250  has at least two configurations. One configuration is an extended or insertion configuration as shown in  FIG. 19A  in which the three segments  252 A,  252 B,  254  are aligned along the same axis. The other configuration is a triangle configuration as shown in  FIG. 19B  in which the manipulator segments  252 A,  252 B are each coupled to the segment  254  via the joints  256 A,  256 B and further are coupled to each other at a coupleable connection  258  at the ends of the segments  252 A,  252 B opposite the joints  256 A,  256 B. 
     As best shown in  FIG. 20A , each of the manipulator segments  252 A,  252 B in this particular embodiment has an operational arm  260 ,  262  (respectively). Each arm  260 ,  262  is moveably coupled to its respective segment  252 A,  252 B at a joint  264 A,  264 B (respectively) (as best shown in  FIG. 22 ). Further, segment  254  has a pair of imaging components (each also referred to herein as a “camera”)  266 A,  266 B (as best shown in  FIG. 21 ). 
     In one embodiment, each arm  260 ,  262  is configured to rotate at its joint  264 A,  264 B in relation to its segment  252 A,  252 B to move between an undeployed position in which it is disposed within its segment  252 A,  252 B as shown in  FIG. 19B  and a deployed position as shown in  FIG. 20A . In one example, arm  260  is rotatable relative to segment  252 A about joint  264 A in the direction shown by G in  FIG. 22 , while arm  262  is rotatable relative to segment  252 B about joint  264 B in the direction shown by H in  FIG. 22 . Alternatively, the arms  260 ,  262  are moveable in relation to the segments  252 A,  252 B in any known fashion and by any known mechanism. 
     According to one embodiment as best shown in  FIG. 20A , each arm  260 ,  262  has three components: a proximal portion  260 A,  262 A, a distal portion  260 B,  262 B, and an operational component  260 C,  262 C coupled with the distal portion  260 B,  262 B, respectively. In this embodiment, the distal portion  260 B,  262 B of each arm  260 ,  262  extends and retracts along the arm axis in relation to the proximal portion  260 A,  262 A while also rotating around that axis in relation to the proximal portion  260 A,  262 A. That is, distal portion  260 B of arm  260  can move back and forth laterally as shown by the letter K in  FIG. 22  and further can rotate relative to the proximal portion  260 A as indicated by the letter J, while distal portion  262 B of arm  262  can move back and forth laterally as shown by the letter L in  FIG. 22  and further can rotate relative to the proximal portion  262 A as indicated by the letter I. 
     In accordance with one implementation, the operational components  260 C,  262 C (also referred to herein as “end effectors”) depicted in  FIG. 20A  are a grasper  260 C and a cautery hook  262 C. It is understood that the operational component(s) used with the device  250  or any embodiment herein can be any known operational component for use with a medical device, including any of the operational components discussed above with other medical device embodiments and further including any operational components described in the applications incorporated above. Alternatively, only one of the two arms  260 ,  262  has an operational component. In a further alternatively, neither arm has an operational component. 
     Alternatively, each arm  260 ,  262  comprises one unitary component or more than two components. It is further understood that the arms  260 ,  262  can be any kind of pivotal or moveable arm for use with a medical device which may or may not have operational components coupled or otherwise associated with them. For example, the arms  260 ,  262  can have a structure or configuration similar to those additional arm embodiments discussed elsewhere herein or in any of the applications incorporated above. In a further alternative, the device  250  has only one arm. In a further alternative, the device  250  has no arms. In such alternative implementations, the segment(s) not having an arm can have other components associated with or coupled with the segment(s) such as sensors or other types of components that do not require an arm for operation. 
     As discussed above, the segment  254  of the embodiment depicted in  FIG. 21  has a pair of cameras  266 A,  266 B. Alternatively, the segment  254  can have a single camera or more than two cameras. It is understood that any known imaging component for medical devices, including in vivo devices, can be used with the devices disclosed herein and further can be positioned anywhere on any of the segments or on the arms of the devices. 
     In a further embodiment, the segment  254  as best shown in  FIG. 21  can also include a lighting component  268 . In fact, the segment  254  has four lighting components  268 . Alternatively, the segment  254  can have any number of lighting components  268  or no lighting components. In a further alternative, the device  250  can have one or more lighting components positioned elsewhere on the device, such as one or both of segments  252 A,  252 B or one or more of the arms, etc. 
     In accordance with a further embodiment as best shown in  FIGS. 19B and 21 , each of the segments  252 A,  252 B,  254  has two cylindrical components—an outer cylindrical component and an inner cylindrical component—that are rotatable in relation to each other. More specifically, the segment  252 A has an outer cylindrical component  270 A and an inner cylindrical component  270 B that rotates relative to the outer component  270 A around an axis indicated by arrow F in  FIG. 21 . Similarly, the segment  252 B has an outer cylindrical component  272 A and an inner cylindrical component  272 B that rotates relative to the outer component  272 A around an axis indicated by arrow E in  FIG. 21 . Further, the segment  254  has an outer cylindrical component  274 A and an inner cylindrical component  274 B that rotates relative to the outer component  274 A around an axis indicated by arrow D in  FIG. 21 . 
     In use, the embodiments having rotatable cylindrical components as described in the previous paragraph can provide for enclosing any arms, cameras, or any other operational components within any of the segments. Further, any segment having such rotatable components provide for two segment configurations: an open configuration and a closed configuration. More specifically, segment  252 A has an outer cylindrical component  270 A with an opening  276  as shown in  FIG. 21  through which the arm  260  can move between its deployed and undeployed positions. Similarly, segment  252 B has an outer cylindrical component  272 A with an opening  278  as shown in  FIG. 21  through which the arm  262  can move between its deployed and undeployed positions. Further, segment  254  has an outer cylindrical component  274 A with an opening  280  as shown in  FIG. 21  through which the imaging component(s)  266 A,  266 B can capture images of a procedural or target area adjacent to or near the device  250 . 
       FIG. 19B  depicts the segments  252 A,  252 B,  254  in their closed configurations. That is, each of the inner cylindrical components  270 B,  272 B,  274 B are positioned in relation to the respective outer cylindrical component  270 A,  272 A,  274 A such that each opening  276 ,  278 ,  280 , respectively, is at least partially closed by the inner component  270 B,  272 B,  274 B such that the interior of each segment  252 A,  252 B,  254  is at least partially inaccessible from outside the segment. 
     More specifically, in the closed position, inner cylindrical component  270 B of segment  252 A is positioned in relation to outer cylindrical component  270 A such that the arm  260  is at least partially enclosed within the segment  252 A. According to one embodiment, the inner cylindrical component  270 B is configured such that when it is in the closed position as shown in  FIG. 19B , it closes off the opening  276  entirely. In a further embodiment, the inner cylindrical component  270 B in the closed position fluidically seals the interior of the segment  252 A from the exterior. 
     Similarly, in the closed position, inner cylindrical component  272 B of segment  252 B is positioned in relation to the outer cylindrical component  272 A such that the arm  262  is at least partially enclosed within the segment  252 B. According to one embodiment, the inner cylindrical component  272 B is configured such that when it is in the closed position as shown in  FIG. 19B , it closes off the opening  278  entirely. In a further embodiment, the inner cylindrical component  272 B in the closed position fluidically seals the interior of the segment  252 B from the exterior. 
     Further, in the closed position, inner cylindrical component  274 B of segment  254  is positioned in relation to the outer cylindrical component  274 A such that the imaging component(s) is not positioned within the opening  280 . According to one embodiment, the inner cylindrical component  274 B is configured such that when it is in the closed position as shown in  FIG. 19B , the imaging component(s) and any lighting component(s) are completely hidden from view and not exposed to the exterior of the segment  254 . In a further embodiment, the inner cylindrical component  274 B in the closed position fluidically seals the interior of the segment  254  from the exterior. 
     In contrast,  FIGS. 20A and 21  depict the segments  252 A,  252 B,  254  in their open configurations. In these configurations, each of the inner cylindrical components  270 B,  272 B,  274 B are positioned such that the openings  276 ,  278 ,  280  are open. 
     In use, according to one embodiment, the inner cylindrical components  270 B,  272 B,  274 B can thus be actuated to move between their closed and their open positions and thereby convert the device  250  between a closed or non-operational configuration (in which the operational components such as the arms  260 ,  262  and/or the imaging components  266  and/or the lighting components  268  are inoperably disposed within the segments  252 A,  252 B,  254 ) and an open or operational configuration (in which the operational components are accessible through the openings  276 ,  278 ,  280  and thus capable of operating). Thus, according to one implementation, the device  250  can be in its closed or non-operational configuration during insertion into a patient&#39;s body and/or to a target area and then can be converted into the open or operational configuration by causing the inner cylindrical components  270 B,  272 B,  274 B to rotate into the open configurations. 
     Alternatively, one or more or all of the segments do not have inner and outer components that rotate in relation to each other. 
     It is understood that the various embodiments of the device  250  disclosed herein include appropriate actuation components to generate the force necessary to operate the arms and/or the rotatable cylinders in the segments. In one embodiment, the actuation components are motors. For example, segment  252 A has a motor (not shown) operably coupled with the arm  260  and configured to power the movements of the arm  260 . Similarly, segment  252 B also has a motor (not shown) operably coupled with the arm  262  and configured to power the movements of the arm  260 . In further embodiments, each of the segments  252 A,  252 B,  254  also have motors (not shown) operably coupled to one or both of the inner and outer cylinder of each segment to power the rotation of the cylinders in relation to each other. In one embodiment, each segment can have one motor to power all drivable elements (arms, cylinders, etc.) associated with that segment. Alternatively, a separate motor can be provided for each drivable element. 
     In one embodiment, the joints  256 A,  256 B are configured to urge the segments  252 A,  252 B from the insertion configuration of  FIG. 19A  into the triangular configuration of  FIG. 19B . That is, the joints  256 A,  256 B have torsion springs or some other known mechanism for urging the segments  252 A,  252 B to rotate around their joints  256 A,  256 B. For example,  FIG. 20C  depicts one embodiment in which the joint  256 A has torsion springs  282  that are configured to urge segment  252 A toward the triangular configuration. 
     In use, in accordance with one implementation, the device  250  in the insertion configuration as shown in  FIG. 19A  can be inserted into a patient&#39;s body through an incision, a trocar port, or natural orifice in the direction indicated by arrow A. Alternatively, the device  250  can be inserted in the other direction as well. After insertion and/or as the device  250  enters the target area or procedural area in the patient&#39;s body, the joints  256 A,  256 B with the torsion springs (or other standard mechanisms) urge the segments  252 A,  252 B from their insertion position to their triangular position. As the segments  252 A,  252 B contact each other to form joint  258 , the two segments are coupled together with mating components that semi-lock the segments  252 A,  252 B together. That is, the two segments  252 A,  252 B can only be separated at the joint  258  by a force sufficient to overcome the semi-lock. Any such known mating component or coupling component, including any mechanical or magnetic mating component(s), can be incorporated into the device  250  for this purpose. 
     Thus, according to one embodiment, the device  250  can be in its insertion configuration during insertion into the patient. As the device  250  enters the target cavity and exits the port or incision, the torsion springs or other mechanisms at the joints  256 A,  256 B cause the two segments  252 A,  252 B to move toward each other until they couple to form the triangular configuration. The device  250  can then be attached to the abdominal wall by some method such as an external magnetic handle. Alternatively, the device  250  can be positioned anywhere in the cavity of the patient as desired by the user. The device  250  is then used to perform some sort of procedure. 
     Subsequently, when the procedure is complete, the device  250  can be retracted from the cavity. To do so, the surgeon uses a grasping or retrieval tool such as a Endo Babcock grasper made by Covidien in Mansfield, Mass., to attach to or otherwise grasp the ball  284  at the joint  258  and apply sufficient force to overcome the semi-lock of the joint  258 . Alternatively, any retrieval component can be positioned at the end of segment  252 A or elsewhere on the device  250  for grasping or otherwise coupling to for purposes of removing the device  250  from the patient&#39;s body. When the coupling of the semi-lock is overcome, the force urges the segments  252 A,  252 B away from each other, thereby making it possible for the surgeon to pull the ball  284  through a port or incision and out of the patient, thereby forcing the device  250  into its insertion configuration. 
     The multiple segments provided in the various embodiments of the device disclosed herein result in significantly more payload space than a single cylindrical body. The increased payload space results in increased capabilities for the device in the form of more, bigger, or more complex operational components, more, bigger, or more complex motors, magnets (as described below) and other similar benefits relating to the availability of more space for more, bigger, or more complex components. For example,  FIG. 20B  depicts a side view of the device  250  according to one embodiment that shows the payload space available in segment  252 B. More specifically, segment  252 B and its coupled arm  262  have payload spaces  286 ,  288 ,  290 ,  292 ,  294  that can be used to accommodate motors, operational components, sensors, magnets (as described below) or any other type of component that could be useful for a procedural device. Similarly, each segment  252 A,  252 B,  254  can have such payload spaces. In addition, the segments  252 A,  252 B,  254  allow for maximization of the payload space available across the segments  252 A,  252 B,  254  by distributing the components such as motors, operational components, or magnets to maximize their effectiveness while minimizing the amount of space required by each such component. For example, it might maximize effectiveness of the device  250  while minimizing the utilized space to have one large motor in one segment that provides force for operation of components in more than one segment. 
     It is understood that various embodiments of the segmented devices disclosed herein are in vivo devices that can be inserted into and positioned within a patient&#39;s body to perform a procedure. In one embodiment, an external controller is also provided that transmits signals to the device  250  to control the device  250  and receives signals from the device  250 . In one embodiment, the controller communicates with the device  250  wirelessly. Alternatively, the controller and the device  250  are coupled via a flexible communication component such as a cord or wire (also referred to as a “tether”) that extends between the device  250  and the controller. 
     It is also understood that various embodiments of the devices disclosed herein can be used in conjunction with known attachment components to attach or otherwise position the device near, against, or adjacent to an interior cavity wall inside the patient. In one embodiment, the attachment components are one or more magnets, disposed within the device, that communicate magnetically with one or more magnets positioned outside the patient&#39;s body. The device magnets can be positioned on or in the device in any suitable configuration. For example, the device magnets in one embodiment can be positioned within the segments  252 A,  252 B,  254  at positions  296 ,  298 ,  300  as shown in  FIG. 23 . It is understood that the external magnets can be used outside the body to position and/or move the device  250  inside the body. 
     It is further understood that various embodiments of the devices disclosed herein can be used in conjunction with known visualization and control components, such as the console  310  depicted in  FIG. 24 . The console  310  has a display  312  and magnets  314  and is positioned outside the patient such that the magnets  314  can be in magnetic communication with the device magnets (not shown) disposed within or otherwise coupled with the device  250 . The console  310  can be used to move the device  250  by moving the console  310  outside the body such that the device  250  is urged to move inside the body, because the console magnets  250  are magnetically coupled with the device magnets (not shown) within the device  250  such that the device  250  remains substantially fixed in relation to the console  310 . In addition, it is understood that the triangular (and quandrangular) devices disclosed and described in relation to  FIGS. 19A-25  can be used in conjunction with any of the external controller or visualization components and systems disclosed and discussed above and in the applications incorporated above. 
     The segmented device  250 , according to one embodiment, provides greater stability and operability for the device  250  in comparison to other in vivo devices. That is, a device having more than one segment such as device  250  provides for a configuration with a larger “footprint” for the device  250 , thereby resulting in greater stability and leverage during use of the device  250 . For example, the device  250  with the triangular configuration in  FIG. 24  that is urged against the interior cavity wall of the patient by the console magnets  314  has greater stability and leverage in comparison to a device that has a smaller “footprint.” That is, the device  250  can have at least three magnets (not shown) disposed at the three corners of the triangular configuration such that when the device  250  is magnetically positioned against the interior cavity wall, the arms of the device  250  can apply greater force to the target tissues while maintaining the position of the device  250  than a corresponding single cylindrical device body. 
     It is understood that the device embodiments disclosed herein are not limited to a triangular configuration.  FIG. 25  depicts a device  320  having a quadrangular configuration with four segments. Similarly, devices are contemplated herein having any number of segments ranging from two segments to any number of segments that can be used for a device that can be positioned inside a patient&#39;s body. For example, a device incorporating the components and structures disclosed herein could have six or eight segments or more. 
     In accordance with one embodiment, the various medical devices disclosed herein and in the applications incorporated above can be used cooperatively. That is, two or more devices can be used at the same time during the same procedure to accomplish more or perform the procedure more quickly than when only one device is used at a time. As such, multiple robots (more than one device and up to any number capable of being inserted into a patient&#39;s cavity and present in the cavity at the same time for performing one or more procedures) are inserted into the patient&#39;s cavity and each controlled by the surgical team. 
       FIGS. 26-28  depict three different embodiments of cooperative use of two or more medical devices together. In  FIG. 26 , the devices that are positioned with a cavity of a patient include a device with operational arms  330 , two lighting devices  332 A,  332 B, and a cylindrical device having a winch component with an end effector  334 . These devices can be operated at the same time using one or more external controllers and/or visualization components according to the various embodiments disclosed above or in the applications incorporated above. 
     Similarly,  FIG. 27  depicts a cooperative procedure implementation using a cylindrical device having a winch component with an end effector  340 , a lighting device  342 , and a cylindrical device  344 . The cylindrical device  344  can have an imaging component and/or additional operational components such as sensors, etc. 
     Another embodiment is depicted in  FIG. 28 , in which a cooperative procedure is performed using a device with arms  350  and a lighting device  352 . 
     According to one embodiment, the devices are assembled while being introduced through a natural orifice, a port, or an incision. For instance, if insertion is through the esophagus, each robot is inserted down the overtube, which provides an “in line” ability for consistent assembly as each robot is “pushed” down the overtube. Alternatively, after insertion into the abdominal cavity, a camera and tool can be inserted to assist with the mechanical connections, or other robotic devices can be used to help with the mechanical connections. 
     The level of cooperation amongst two or more in vivo medical devices varies between high network communications, planning, and some autonomy, to lower level mechanical connections and surgeon control. That is, in certain embodiments, the cooperative devices can communicate with each other and perform with some level of autonomy (without input or with limited input from the user or surgeon). In an alternative implementation, the cooperative devices can simply be positioned in the same general procedural space and separately controlled by one or more users to work cooperatively to perform a procedure or procedures. 
     In one embodiment, two or more devices positioned in a body cavity can be coupled to each other in some fashion. It is understood that the coupling does not necessarily result in a rigidly coupling of the devices to each other in all degrees. As such, the configuration(s) of two or more devices may adapt to the varying geometry of each patient, disturbances to the abdominal wall, and respiration cycle. According to one implementation, one benefit of coupling the devices is to maintain a set distance between the devices for vision, lighting, tissue manipulation, and other procedural purposes. 
     Although the present invention has 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 invention.