Virtual reality surgical tools system

Abstract

A method and system for use in surgery, which includes a grasper having a jaw, and a grasper housing having a proximal end and distal end and defining a docking opening, and a tool having a tool housing having a proximal end, a distal end and defining an inner surface, and a robotic device operably coupled to the proximal end of the grasper housing, and configured to actuate the jaw of the grasper. The tool housing having an operative assembly at the distal end of the tool housing, and the tool housing defining a docking assembly at the proximal end of the tool housing. The operative assembly having a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever.

What is claimed is: 
     
         1 . A robotic subsystem, comprising:
 a) at least one robotic arm having a tool grasper at a distal end thereof;   b) a plurality of end effectors; and   c) a tool rack stored within a patient during a surgical procedure and in which the end effectors are housed;   wherein the tool rack is formed to be inserted through a trocar; and   wherein the tool grasper engages with the plurality of end effectors to decouple the end effectors from the tool rack; and disengages from the plurality of end effectors to couple the plurality of end effectors to the tool rack.   
     
     
         2 . The robotic subsystem of  claim 1 , wherein a hull of each end effector is constrained relative to the tool grasper when engaged therewith. 
     
     
         3 . The robotic subsystem of  claim 2 , wherein the tool grasper includes attachments pins that engage with channels formed in a hull of each end effector. 
     
     
         4 . The robotic subsystem of  claim 2 , wherein attachment pins are formed on jaws of the tool grasper and wherein the attachments pins engage with pin channels formed on levers of each end effector. 
     
     
         5 . The robotic subsystem of  claim 4 , wherein the attachments pins are disposed on a distal end or a proximal end of the jaws of the tool grasper. 
     
     
         6 . The robotic subsystem of  claim 1 , wherein the end effectors are needle drivers, forceps, graspers, retractors, surgical staplers, vessel sealers, cautery pins, calipers, scissors, or a combination thereof. 
     
     
         7 . The robotic subsystem of  claim 6 , wherein the end effectors are a combination of a grasper and scissors. 
     
     
         8 . The robotic subsystem of  claim 1 , wherein the tool rack is temporarily attached to an interior body cavity of the patient. 
     
     
         9 . The robotic subsystem of  claim 1 , wherein the tool rack is attached to a support shaft that traverses through the trocar to outside the patient. 
     
     
         10 . The robotic subsystem of  claim 1 , wherein the tool rack is formed of a biocompatible magnetic material and is externally supported by magnets disposed outside the patient. 
     
     
         11 . The robotic subsystem of  claim 1 , wherein the tool rack includes a plurality of coupling mechanisms that couple with the end effectors to provide engagement of the tool grasper and the end effectors. 
     
     
         12 . The robotic subsystem of  claim 11 , wherein the coupling mechanisms are housed in storage slots of the tool rack. 
     
     
         13 . The robotic subsystem of  claim 1 , wherein the tool rack is formed with a plurality of collapsible rows for insertion through the trocar. 
     
     
         14 . The robotic subsystem of  claim 1 , further comprising an introducer configured to engage and disengage the end effectors and the tool grasper, wherein the introducer includes a tool engagement mechanism configured to grasp the end effectors attached to the tool grasper to disengage the end effectors from the tool grasper. 
     
     
         15 . The robotic subsystem of  claim 14 , wherein the introducer is inserted separately through the trocar. 
     
     
         16 . The robotic subsystem of  claim 1 , wherein the tool rack includes a cleaning system for removal of material inhibiting engagement or disengagement of the end effectors to the tool grasper. 
     
     
         17 . The robotic subsystem of  claim 16 , wherein the cleaning system is an irrigation system, a suction system, a brush tool, or a combination thereof. 
     
     
         18 . A method of exchanging tools of a robotic subsystem, comprising:
 a) inserting at least one robotic arm through a trocar into a patient, wherein the at least one robotic arm includes a tool grasper at a distal end thereof;   b) inserting a tool rack through the trocar into the patient, wherein a plurality of end effectors are coupled to the tool rack; and   c) operating the at least one robotic arm to engage the tool grasper with a first of the plurality of end effectors coupled to the tool rack.   
     
     
         19 . The method of  claim 18 , further comprising:
 a) maneuvering the at least one robotic arm toward the tool rack to re-engage the first end effector with the tool rack; and   b) engaging the tool grasper with a second end effector of the plurality of end effectors coupled to the tool rack.   
     
     
         20 . The method of  claim 19 , wherein the tool rack is stored within the patient during a surgical procedure.