Percutaneous instrument with collet locking mechanisms

1. A surgical device, comprising:

a) an elongate shaft comprising a distal end and a proximal end;

b) an actuator operably connected to the proximal end of the elongate shaft;

c) an end effector adapted for attachment to and detachment from the distal end of the elongate shaft, the end effector comprising:

i) a driver;

ii) a tube;

iii) at least one arm associated with at least one of the driver or tube, the at least one arm configured to engage at least a portion of the distal end of the elongate shaft; and

iv) a collar comprising a first position and a second position, wherein in the first position the arm can deflect laterally and in the second position the collar circumscribes the arm and constrains the arm from deflecting laterally; and

v) a spring biasing the collar to the second position.

2. A surgical device, comprising:

a) an elongate shaft comprising an outer tube and an inner rod positioned in the outer tube, the outer tube and inner rod each comprising a distal end and a proximal end, the inner rod and outer tube each comprising a groove on the distal end;

b) an actuator operably connected to the proximal ends of the outer tube and the inner rod;

c) an end effector adapted for in vivo attachment to and detachment from the distal ends of the outer tube and the inner rod, the end effector comprising:

i) a driver comprising a first arm configured to engage the groove of the inner rod;

ii) a tube comprising a second arm configured to engage the groove of the outer tube;

iii) an outer casing moveable between a distal position where the first and second arms can laterally deflect, and a proximal position where the first and second arms are constrained from laterally deflecting; and

iv) a spring biasing the outer casing to the proximal position.

3. The surgical device of claim 1 , wherein the actuator comprises a manual handle.

4. The surgical device of claim 1 , wherein the end effector is adapted for in vivo attachment and detachment from the distal end of the elongate shaft.

5. The surgical device of claim 1 , wherein the elongate shaft is adapted for direct percutaneous insertion.

6. The surgical device of claim 1 , wherein the first position is distal of the second position.

7. The surgical device of claim 1 , further comprising

a loader configured for receiving the end effector, the loader comprising:

a locked state where the end effector is locked in the loader and the end effector collar is in its first position;

an unlocked state where the end effector is unlocked from the loader and the end effector collar is in its second position.

8. The surgical device of claim 1 , wherein the arm comprises a medial tooth that engages a groove in the distal end of the elongate shaft.

9. The surgical device of claim 2 , wherein the distal end of the inner rod comprises a pointed tip.

10. The surgical device of claim 2 , wherein the first and second arms have a snap fit with the grooves on the inner rod and outer tube, respectively.

11. The surgical device of claim 2 , wherein the first and second arms are each cantilevered and each comprise a medial tooth dimensioned configured to mate with the grooves on the inner rod and outer tube, respectively.

12. The surgical device of claim 2 , further comprising a loader configured for receiving end effector, the loader comprising:

a locked state where the end effector is locked in the loader and the end effector outer casing is in its distal position;

an unlocked state where the end effector is unlocked from the loader and the end effector outer casing is in its proximal position.

13. The surgical device of claim 2 , wherein the driver further comprises a second arm configured to engage the groove of the inner rod.