Manipulator end effector

A subsea manipulator tool changer, comprising:

• a. a remotely operated vehicle (ROV) attachable standardized tool receiver, comprising:
• i. a first arm section comprising:
• 1. an inner annulus;
• 2. a predetermined set of tool controller pathways disposed at least partially within the first arm section;
• 3. a selectively attachable first end;
• 4. a tool interface movably disposed within the inner annulus;
• 5. an actuator operatively in communication with the tool interface;
• and
• 6. a second end disposed opposite the selectively attachable first end;
• and
• ii. a second arm section disposed proximate the second end of the first arm section and comprising;
• 1. a standardized tool latch operatively in communication with the actuator;
• and
• 2. a first predetermined set of wet-matable tool actuator connectors operatively in communication with the predetermined set of tool controller pathways, the tool actuator connectors configured for use subsea;
• and
• iii. a tool insertion guide disposed proximate the second end;
• and
• b. a tool, comprising:
• i. a tool insertion end configured to cooperatively mate with the ROV attachable standardized tool receiver, the tool insertion end comprising:
• 1. a standardized tool latch receiver configured to selectively and releasably mate with the standardized tool latch;
• 2. a tool insertion guide receiver configured to selectively and releasably receive the tool insertion guide;
• and
• 3. a first predetermined set of wet-matable tool actuator connector engagers configured to cooperatively mate with a predetermined subset of matching wet-matable tool actuator connectors of the first predetermined set of wet-matable tool actuator connectors;
• and
• ii. an ROV manipulatable tool operatively in communication with a wet-matable tool actuator connector engager of the first predetermined set of wet-matable tool actuator connector engagers.