fig1 illustrates a complete tool system with cassette . the tool system 10 includes a handle 12 and shaft 14 . a cassette system 16 includes a plurality of individual segments 18 with articulating joints 20 and deployable tool holders 22 , each of which cradles a removable surgical tool tip 36 ( fig2 ). the tool system 10 is shown in more detail in fig2 . the handle 12 includes a shaft rotator 26 , a fixed finger grip 28 and a thumb actuator 30 . the handle 12 typically house motors , controllers , and other components for driving and interfacing with the individual tool tips 36 . the thumb actuator 30 will typically be connected to manipulate the tools in some desired way , for example , by mechanically opening and closing scissors , forceps , or other tool elements . alternatively , the thumb actuator could actuate an electric motor to rotate the tool element , such as a burr , drill , or the like . other features on the handle include a trocar button 32 and a trocar mode selector 34 . the shaft 14 of the tool system will typically ( but not necessarily ) have a pointed , electro - surgical , or other tissue - penetrating tip to allow direct introduction through tissue , i . e . not through a previously placed cannula . while not necessary , such shafts with tissue - penetrating element could be introduced through cannulas or pre - formed incisions . an exemplary surgical tool tip 36 comprises a cassette - locking element , such as pawl 38 , a printed circuit board or other low power electrical interface 40 , and the like . a second or mating low power interface 42 will typically be provided on the shaft 14 in order to interconnect with the interface 40 on the tool . the tool 36 itself may comprise mechanical elements such as jaws 46 , although other mechanical and non - mechanical end effectors may also be provided , such as electrodes , drills , cameras , electrodes , and the like . fig3 provides a detailed view of the distal end of the shaft entering the tool 36 while it is held within a deployed tool holder 22 which is part of the cassette system 16 . the tool holder is raised from a bay in the segment 18 , and the distal end of the shaft 14 , which is typically less than 3 mm in outside diameter , may be introduced into a larger or full sized tool tip , typically 8 mm , and thereafter may be locked onto the shaft , typically by the paw 38 ( fig2 ). fig4 a shows the distal end of the shaft 14 being introduced the surgical tool tip 36 where a rotational motion can drive the tool , such as graspers , cutters , camera zoon / focus , morcellator , or the like . rotational motion is converted by a thrust bearing 48 where splines 50 on the tool tip engage a rotational mechanism to convert rotational motion into liner motion via a lever 52 . fig4 b and 4c shows an alternative construction of the tool tip 36 ′ and the distal end of shaft 14 ′ with a collet leaf 56 ( retracted in fig4 b and exposed in fig4 c ) which is received into a collet leaf cavity 58 for locking and releasing the tool tip into a tool holder by canting latch element 60 . a rotational alignment detent 62 is also provided . fig4 b shows the shaft 14 ′ prior to insertion into tool 36 ′, and fig4 c shows the shaft inserted into the tool . details of the mechanism for locking and unlocking the shaft 14 ′ into the surgical tool tip 36 ′ are provided in fig5 a - 4d . exploded views are shown in fig5 a and 5b where a lock pin carrier 70 includes a trocar push off feature 72 , lock tip 74 , spring 76 and spring caps 78 . an unlocked configuration is shown in fig5 c and a locked configuration is shown in fig5 d . by rotating the shaft 14 through 90 °, as indicated by the arrow in fig5 c , flat facets or surfaces on the cylindrical face of the distal end of the shaft 14 allow the lock pins 74 to drop under the force of springs 76 , allowing the spring caps 78 to disengage the locking lever . fig6 illustrates an exploded view of the connection of the handle 12 of the tool system 10 to the shaft 14 . grounding pins 80 are movably received into grounding pin pockets 82 , and a handle collar 84 may be pushed forward to disengage the grounding pins or be pulled back to engage the grounding pins , thus allowing a nose cone 86 to be selectively rotated . this allows the 90 ° rotation which is used for locking and unlocking the tool tip to the shaft of the device . fig7 illustrates the tool system 10 and cassette system 16 , where the cassette system 16 may be sutured in place with suture 90 . fig7 a - 7c illustrate various configurations of the tool cassette system 16 . a linear configuration is shown in fig7 a . the linear configuration is typically used for introducing the cassette into the patient . for thoracoscopic procedures , the individual segments 18 and tools 36 may have non - circular cross sections in order to minimize the need to distract adjacent ribs for introduction . the tool cassettes are shown in their stable , curved configuration in 7 b and further shown with individual tool holders 22 deployed in fig7 c . referring now to fig8 , a cassette manipulator 100 is shown attached to a center segment of a tool cassette deployed in the thorax of a patient . as better seen in fig9 and 10 a - 10 b , the cassette manipulator 100 includes a handle 102 and a shaft 104 where a distal tip 106 of the shaft can be detachably removed into a center segment 108 of the tool cassette system 116 . the center segment 108 will typically not carry a tool and be provided as an interface for the shaft 104 . after the tool cassette has been introduced into the thorax of the patient , as shown in fig8 , the shaft 104 may be transcutaneously introduced , typically using the sharpened or otherwise tissue - penetrating tip 106 , and then engaged into the segment 108 . the handle 102 can then be used to pull the cassette upwardly against the inner wall of the thorax , and the handle then ratcheted down against the outer skin of the patient in order to hold the tool cassette in place . at the end of the procedure , a release button 120 can be pressed to release the cassette . a second release button 122 is provided to disengage the ratchet which holds the handle in place while a tip to the shaft . while preferred embodiments of the present invention have been shown and described herein , it will be obvious to those skilled in the art that such embodiments are provided by way of example only . numerous variations , changes , and substitutions will now occur to those skilled in the art without departing from the invention . it should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention . it is intended that the following claims define the scope of the invention and that methods and structures within the scope of these claims and their equivalents be covered thereby .
a surgical tool system includes a surgical tool shaft having a distal end and a proximal end . a plurality of surgical tool tips detachably connect to the distal end of the shaft . the surgical tool shaft includes a low power electrical interface , a high power electrical interface , and a mechanical interface .