A bone fixation pin is inserted into a bone with an apparatus comprising a housing having a proximal portion and a distal portion, the distal portion having an inner surface and an opening configured to receive the bone fixation pin; a drive shaft having a proximal end configured to engage a handle and a distal end; and a body having an axis and a peripheral edge. The body comprises a bore along the axis, the bore being configured to slidably engage the distal end of the drive shaft; and a plurality of evenly spaced slots in the peripheral edge of the body. A plurality of chuck arms move radially along the evenly spaced slots in the peripheral edge of the body, each chuck arm having an inner surface and an outer surface, with each chuck arm being biased toward the axis of the body by a first biasing force. The outer surface of each chuck arm slidably engages the inner surface of the housing. The distal end of the drive shaft and the body are within the proximal portion of the housing, with the body being biased toward the distal end of the housing by a second biasing force. Each chuck arm has an engaging surface configured to engage a head of the bone fixation pin, where pressure applied to the engaging surface drives the chuck arms in a radial direction against the first biasing force, and simultaneously drives the body carrying the chuck arms axially against the second biasing force.

A bone fixation pin is inserted into a bone with an apparatus comprising a housing having a proximal portion and a distal portion, the distal portion having an inner surface and an opening configured to receive the bone fixation pin; a drive shaft having a proximal end configured to engage a handle and a distal end; and a body having an axis and a peripheral edge. The body comprises a bore along the axis, the bore being configured to slidably engage the distal end of the drive shaft; and a plurality of evenly spaced slots in the peripheral edge of the body. A plurality of chuck arms move radially along the evenly spaced slots in the peripheral edge of the body, each chuck arm having an inner surface and an outer surface. The distal end of the drive shaft and the body are within the proximal portion of the housing, the body being biased toward the distal end of the housing; and the inner surface of each chuck arm is configured to engage the bone fixation pin. The outer surface of each chuck arm slidably engages the inner surface of the housing.

A bone fixation pin is inserted into a bone with an apparatus comprising a housing having a proximal portion and a distal portion, the distal portion having an inner surface and an opening configured to receive the bone fixation pin; a drive shaft having a proximal end configured to engage a handle and a distal end; and a body having an axis and a peripheral edge. The body comprises a bore along the axis, the bore being configured to slidably engage the distal end of the drive shaft; and a plurality of evenly spaced slots in the peripheral edge of the body. A plurality of chuck arms move radially along the evenly spaced slots in the peripheral edge of the body, each chuck arm having an inner surface and an outer surface, with each chuck arm being biased toward the axis of the body by a first biasing force. The outer surface of each chuck arm slidably engages the inner surface of the housing. The distal end of the drive shaft and the body are within the proximal portion of the housing, with the body being biased toward the distal end of the housing by a second biasing force. Each chuck arm has an engaging surface configured to engage a head of the bone fixation pin, where pressure applied to the engaging surface drives the chuck arms in a radial direction against the first biasing force, and simultaneously drives the body carrying the chuck arms axially against the second biasing force.

A bone fixation pin is inserted into a bone with an apparatus comprising a housing having a proximal portion and a distal portion, the distal portion having an inner surface and an opening configured to receive the bone fixation pin; a drive shaft having a proximal end configured to engage a handle and a distal end; and a body having an axis and a peripheral edge. The body comprises a bore along the axis, the bore being configured to slidably engage the distal end of the drive shaft; and a plurality of evenly spaced slots in the peripheral edge of the body. A plurality of chuck arms move radially along the evenly spaced slots in the peripheral edge of the body, each chuck arm having an inner surface and an outer surface. The distal end of the drive shaft and the body are within the proximal portion of the housing, the body being biased toward the distal end of the housing; and the inner surface of each chuck arm is configured to engage the bone fixation pin. The outer surface of each chuck arm slidably engages the inner surface of the housing.

In an inherently safe robotic tool changer, a master unit couples to a tool unit via a first power source, and decouples from the tool unit using a separate, second power source. The second power source is only available when an attached tool is safely disposed in a tool stand. In embodiments where the first power source is not selectively applied, such as the constant bias provided by a spring, a detent mechanism maintains the master unit in a decoupled state when the master unit is removed from the tool unit. The detent mechanism allows the master unit to couple to a different tool unit upon physically abutting the new tool unit.