Abstract: A medical system may comprise a stereo display and an input device. The medical system may also comprise a processor configured to generate a three-dimensional image of an anatomical object and cause the three-dimensional image of the anatomical object and a two-dimensional window to be displayed. The processor may also be configured to cause a position and an orientation of the two-dimensional window relative to the three-dimensional image of the anatomical object to be changed on the stereo display by manipulation of the input device. The processor may also be configured to define a cut-plane to indicate a two-dimensional slice of the three-dimensional image of the anatomical object. The processor may also be configured to cause the two-dimensional slice of the three-dimensional image of the anatomical object to be displayed. An orientation of the displayed two-dimensional slice may be different than an orientation of the cut-plane with the three-dimensional image.

Abstract: Fluorescence imaging with reduced fixed pattern noise is disclosed. A method includes actuating an emitter to emit a plurality of pulses of electromagnetic radiation and sensing reflected electromagnetic radiation resulting from the plurality of pulses of electromagnetic radiation with a pixel array of an image sensor. The method includes reducing fixed pattern noise in an exposure frame by subtracting a reference frame from the exposure frame. The method is such that at least a portion of the plurality of pulses of electromagnetic radiation emitted by the emitter comprises electromagnetic radiation having a wavelength from about 770 nm to about 790 nm.

Abstract: An image pickup apparatus includes: an optical unit including an incident surface and an emission surface, in which a plurality of optical members are arranged around an optical axis; a polygonal prism image pickup unit including a light receiving surface, a rear surface and a plurality of side faces, in which a plurality of elements including an image pickup device configured to photoelectrically convert light made incident from the optical unit and output an image pickup signal are laminated; and at least one guide, a front portion of which is fixed to the emission surface of the optical unit and a rear portion of which is provided with a plurality of contact surfaces that are respectively in contact with and fixed to the plurality of side faces of the image pickup unit.

Abstract: An endoscopic image processing device includes one or more processors. The processors perform: detecting a region of interest for an observation image, the observation image being obtained by picking up an image of an object and being sequentially input to the processors, judging whether detection of the region of interest continues or not to acquire a judgment result, emphasizing with adding visual information for emphasizing a position of the region of interest to the observation image during a period during which the region of interest is detected. The processors cause an appearance of the visual information added to the observation image to differ between a case where the detection of the region of interest continues for a predetermined time period or more and a case where the detection of the region of interest discontinues in a time period shorter than the predetermined time period, based on the judgment result.

Abstract: A sensor assembly as part of a wireless alarm system for building entrances like windows and doors. An elongated sensor assembly for detecting a change of state comprising at least one sensor switch configured to detect a given state and a change of state between the given state and at least one other state, a microprocessor configured to detect the change of state of the at least one sensor switch, an antenna system, a wireless transmitter configured to receive a signal from the microprocessor identifying a change of the state of the at least one sensor switch and transmit the signal by means of the antenna system, and a power source for providing electric power, wherein the at least one sensor switch, the microprocessor, the antenna system, the wireless transmitter, and the power source are incorporated in the elongated sensor assembly having a maximum height of less than 5 mm.

Abstract: An endoscope operation portion includes: an operation portion body provided being connected to a grasping portion; a joystick-type bending operation lever provided on a back side of the operation portion body, including a lever shaft body, and configured to perform a bending operation of a bending portion; and a suction button provided on a front side of the operation portion body so that an angle formed by an operation axis in a pressing-down operation direction relative to a central axis of the lever shaft body is an obtuse angle, and an intersection point between the central axis and the operation axis is positioned inside the operation portion body.

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

Abstract: An image pickup optical system includes an image pickup field of view in which part of an endoscope is reflected, an aperture stop and a peripheral light reduction stop. The peripheral light reduction stop is positioned in an optical axis direction satisfying Conditional Expression (1), in the peripheral light reduction stop, when a side on which part of the endoscope exists in the image pickup field of view is a first direction and a side on which no part of the endoscope exists in the image pickup field of view is a second direction, an opening portion of the peripheral light reduction stop satisfies Conditional Expression (2), and a peripheral light reduction quantity in the second direction is smaller than a peripheral light reduction quantity in the first direction by shielding no effective luminous flux in the second direction or reducing shielding quantity of the effective luminous flux, 0.5<|Hch/Haxm|<5??(1), ?1.2<(La?|Hch|)/|Haxm|<0.6??(2).

Abstract: Provided is an arthroscopic system including an disposable arthroscope having a distal end and a proximal end, and including a light source, a lens set, an image sensor, a transmitter, and a control interface. The arthroscopic system eliminates the possibility of infecting the patient with contaminated devices by its cost-effectively disposable arthroscope. Also provided is a method for image rotating in an arthroscopic system.

Abstract: A method for visually controlling a robot arm which is displaceable in a plurality of degrees of freedom, the robot arm carrying at least one displaceable reference point, includes the steps of: a) placing at least one camera so that a target point where the reference point is to be placed is contained in an image output by the at least one camera; b) displacing the robot arm so that the reference point is within the image; c) determining a vector which, in the image, connects the reference point to the target point; d) choosing one of the plurality of degrees of freedom, moving the robot arm by a predetermined standard distance in the one degree of freedom, and recording a standard displacement of the reference point within the image resulting from the movement of the robot arm; e) repeating step d) at least until the vector can be decomposed.

Abstract: There are provided an endoscope in which adhesion strength between two optical members can be enhanced and an endoscope apparatus including the endoscope. An endoscope includes an insertion part that is to be inserted into a subject, a first unit that is built in a distal end portion of the insertion part and includes a prism, a second unit that is built in the distal end portion and includes a cover glass, an adhesive layer that is formed between the light-emitting surface of the prism and the surface of the cover glass and adheres the prism to the cover glass, and a resin layer that fills a gap larger than the thickness of the adhesive layer formed between the first unit and the second unit. The thermal expansion coefficient of the resin layer is set to 1/10 or less of the thermal expansion coefficient of the adhesive layer.

Abstract: Medical endoscope imaging systems and methods of using the same are disclosed. The imaging systems can have an endoscope having an image sensor, a display housing having an image display, a communication link configured to couple the image sensor to the image display, and a camera housing having a camera-sensor. The display housing can be configured to be detachably coupled to the camera housing. The camera-sensor can be configured to receive signals from the image display.

Abstract: A portable endoscope includes: an operation portion; a video display device provided with a display portion and a device body; and a suction valve or a gas feeding adapter including a tube connecting portion provided on a fluid pipe sleeve. The body attaching portion of the device body is provided at a predetermined position positionally displaced from a central part of the device body; and the tube connecting portion is arranged along a back face of the device body and arranged in a display portion projection range projecting outward from the operation portion left side face viewed from the video display screen side.

Abstract: To provide an observation system and a light source control apparatus capable of more efficiently generating observation light to be used for special observation different from normal observation, and enabling the special observation to be more efficiently performed. An observation system includes: a plurality of light sources that emits light of different wavelength bands that can be combined to generate white light; an optical system that irradiates an observation object with first light that includes light emitted from some of the plurality of light sources; an imaging device that captures an image of the observation object irradiated with the first light; and a light source control unit that controls the quantity of the first light on the basis of the luminance of a pixel corresponding to a predetermined wavelength band in the captured image.

Abstract: An endoscope image-capturing device includes: a first case inside of which is sealed; an image sensor arranged inside the first case; an electro-optic conversion element arranged outside the first case and configured to convert an image signal output from the image sensor into an optical signal; and a sealing member sealing the electro-optic conversion element.

Abstract: A stereoscopic visualization camera and platform are disclosed. An example stereoscopic visualization camera includes a main objective assembly and left and right lens sets defining respective parallel left and right optical paths from light that is received from the main objective assembly of a target surgical site. Each of the left and right lens sets includes a front lens, first and second zoom lenses configured to be movable along the optical path, and a lens barrel configured to receive the light from the second zoom lens. The example stereoscopic visualization camera also includes left and right image sensors configured to convert the light after passing through the lens barrel into image data that is indicative of the received light. The example stereoscopic visualization camera further includes a processor configured to convert the image data into stereoscopic video signals or video data for display on a display monitor.

Abstract: An endoscope includes an imaging circuit that generates an imaging signal. The endoscope has a transmission path that connects the imaging circuit to a control device to perform image processing on the imaging signal. The endoscope also includes a phase synchronization unit having (i) a digital control oscillator that generates a drive clock signal, and (ii) a phase digital output circuit that generates and outputs a phase digital signal to the transmission path. A first switch of the endoscope connects the transmission path to one of the control device and the phase digital output circuit, and a second switch connects the transmission path to one of the imaging circuit and the digital control oscillator.

Abstract: An endoscope apparatus includes two optical path forming optical systems, an image forming optical system, two convex power sections including a convex section, provided in the two optical path forming optical systems, and disposed so as to emit emitted light from the two optical path forming optical systems to the image forming optical system, and an aperture member including two openings configured to transmit the light emitted from the two convex power sections. The centers of the two openings are respectively located on the optical axis side of the image forming optical system with respect to the two optical axes of the two optical path forming optical systems.

Abstract: There is provided herein an endoscope assembly, the assembly comprising at least one front-pointing camera and at least one front illuminator associated therewith, at least one side-pointing camera and at least one of side illuminator associated therewith, a first front working channel configured for insertion of a medical tool and a second front working channel configured for insertion of a medical tool.

Abstract: An endoscope includes a shaft having proximal and distal ends and a longitudinal axis therebetween. A handle is coupled to the proximal end of the shaft, and an image sensor is carried on the distal end of the shaft. A channel extends through at least a distal shaft portion and has a channel diameter, and a section of the channel is re-configurable between a constricted shape and a non-constricted shape to accommodate tools introduced therethrough. The combined diagonal dimension and channel diameter is usually greater than the outer shaft diameter. The image sensor may be connected to a connector on the housing by a first slack flex circuit and a lights source on the shaft may be connected to a connector on the housing by a second slack flex circuit.

Abstract: The invention relates to a computer-controlled lighting system which comprises an interface for defining a work surface within the lighting system and a desired illumination of the work surface, at least one luminaire for illuminating the work surface and a processing unit for automatically computing configuration parameters which allow configuring the at least one luminaire such that the desired illumination of the work surface is achievable.

Abstract: A pulse wave measuring device includes a processor and a memory. The processor obtains a visible light image, in a visible light wavelength range, of a user irradiated with visible light by a visible light source, obtains an infrared light image, in an infrared light wavelength range, of the user irradiated with infrared light by an infrared light source, extracts a visible light wave indicative of a user's pulse wave from the visible light image, extracts an infrared light wave indicative of a user's pulse wave from the infrared light image, computes a correlation value between the visible and infrared light waves, supplies a control signal for controlling the amount of infrared light emitted from the infrared light source to the infrared light source in accordance with the correlation value, calculates biological information by using at least one of the visible and infrared light waves, and outputs the biological information.

Abstract: The invention relates to a device for superimposing known patterns, characteristic of a region, on (real) images of said region. The device comprises, a memory in which patterns are stored, which are representative of a selected region, of known position and orientation with relation to a common reference and processing means, for determining a pattern representative of the selected portion in the memory, on receipt of the designation of at least one portion of an observed image of the selected region, taken at a selected angle and at least one representative attribute of said region, taking account of the attribute selected, then superimposing the determined pattern on the selected portion of the image taking account of the selected angle.

Abstract: A security system includes a camera that captures an image of a monitoring area, a recorder that stores the captured image which is captured by the camera, a sensor that detects a matter in the monitoring area, a video monitoring and display device that causes a monitor to display the captured image of the monitoring area from the camera or the recorder, and a BLE reception device that detects a signal from a BLE transmission terminal which is installed or maintained by a guard who patrols the monitoring area. In a case where the matter is detected in the monitoring area, the video monitoring and display device extracts the captured images of the suspect or the guard, chronologically arranges the captured images, and displays the captured images on the monitor.

Abstract: The present disclosure relates to a system and method for coordinated laser delivery and imaging during an interventional procedure. A method may include activating an imaging source to provide a pulsed imaging signal and activating a laser source to provide a pulsed laser signal while the imaging source remains activated. The method may include coordinating the pulsed laser signal and the pulsed imaging signal to output each pulse of the pulsed laser signal and each pulse of the pulsed imaging signal in non-overlapping time windows. A system may include a controller in communication with the laser source and the imaging source for coordinating the output of the laser signal and the imaging signal.

Abstract: There is provided a medical camera head including an imaging board integrally including an imaging element mounting section where an imaging element is mounted, a plurality of first flexible portions whose one ends connected to the imaging element mounting section are led out of the imaging element mounting section in different directions, and a connection section connected to the other end sides of the plurality of first flexible portions.

Abstract: A video processing apparatus includes a housing defining an interior space, the housing having first, second, third, and fourth sides and a back side extending between the first, second, third and fourth sides, the back side including a back wall having a main portion laying on a back plane, a recessed portion recessed from the back plane and defining a video connection recess, and a recessed wall extending from the main portion to the recessed portion, the recessed wall having a video connector opening, and the recessed portion having an angled surface lying at an angle of at least 5 degrees relative to the back plane; and a video output socket in the interior space and aligned with the video connector opening of the recessed wall, whereby the angled surface facilitates insertion of a video connector into the video output socket.

Abstract: Computerized information acquisition and processing apparatus. In one embodiment, the apparatus includes a video apparatus with image capture and digitization capability, and multiple wireless interfaces for accomplishing various purposes, including e.g., streaming the digitized video data to another device for viewing and/or storage thereon. In one variant, one of the wireless interfaces is a short range passive RFID-based interface which generates replies to interrogation signals, the replies including user-specific information.

Abstract: A medical apparatus is described for providing visualization of a surgical site. The medical apparatus includes an electronic display disposed within a display housing. The medical apparatus includes a display optical system disposed within the display housing, the display optical system comprising a plurality of lens elements disposed along an optical path. The display optical system is configured to receive images from the electronic display.

Abstract: An imaging system includes an image generating device and two reflecting mirrors. The image generating device projects a light toward a gravity direction. The two reflecting mirrors are disposed with respect to each other and one of the two reflecting mirrors is disposed with respect to the image generating device. The light projected by the image generating device forms a virtual image through the two reflecting mirrors in sequence.

Abstract: An insertion device includes a long and thin insertion section, a rotating housing that is provided to be rotatable about a longitudinal axis, a drive shaft that is connected to a motor rotating the rotating housing, and that transmits a rotation of the motor, a rotor that is provided at a distal-end side of the drive shaft and that is provided to be movable in relation to the rotating housing in axial direction of the insertion section, and that transmits the rotation to the rotating housing via a coating of the insertion section, a sensor that detects that the rotor moves a predetermined amount in either forward or backward direction relative to the axial direction of the insertion section, and a control unit that controls, according to the detection by the sensor, a state of the motor including a positive rotation, a negative rotation, and rotation halt.

Abstract: A controllable dynamic lighting system including a lighting element device with a set of controllable zone and a controlling means. A method for controlling a lighting system including: receiving lighting system operation inputs, determining operation instructions for one more controllable zones based on the operation inputs, and controlling controllable zone operation based on the respective operation instructions.

Abstract: An endoscope includes a grasp section. The grasp section includes: a first surface adjacent, in the longitudinal axis, to a surface where the bending operation knob is provided, a protruding portion radially outwardly protruding to the longitudinal axis at a position adjacent to the first surface around the longitudinal axis, a first inclined surface provided on the protruding portion at a side adjacent to the first surface and inclined to the first surface, and a second inclined surface which is provided, on the protruding portion, at a side opposite to the first inclined surface across the protruding portion, and which is inclined to the first surface.

Abstract: A processing device includes a processing circuit configurable according to a type of an endoscope, and a control circuit configured to detect a connection state of the endoscope, and measure a disconnection time from disconnection to reconnection. The control circuit is also configured to determine that currently and previously connected endoscopes are of the same type when the disconnection time is shorter than a predetermined time, reconfigure the processing circuit according to the type of the endoscope when it is determined that the currently and previously connected endoscopes are not of the same type, and not reconfigure the processing circuit when it is determined that the currently and previously connected endoscopes are of the same type.

Abstract: An endoscope system, includes a light source device that emits illumination light to an object, an image obtaining part that captures light reflected at the object by an image pickup element and thereby obtains a color image including at least three color components, and an evaluation part that obtains, for each of pixels constituting the color image obtained by the image obtaining part, an evaluation result concerning a target disease based on an angle, in a color plane being defined by at least two of the at least three color components, formed between a line segment, which connects a predetermined reference point positioned on the color plane with a corresponding pixel point allocated corresponding to the each of the pixels in the color plane, and a reference axis having a correlation with the target disease. The reference axis is set to pass through the predetermined reference point.

Abstract: Apparatus and methods are described including, using a computer processor (28), automatically identifying whether a given pixel (111) within an image corresponds to a portion of an object. A set of concentric circles (132a-c) that are disposed around the pixel are sampled, and a first function is applied to each of the circles such that the circles are defined by a first set of rotationally invariant descriptors. A second function is applied to the set of circles to generate a second set of descriptors, each of which represents a difference between respective pairs of the circles. A third function is applied such that the second set of descriptors becomes rotationally invariant. The processor identifies whether the given pixel corresponds to the portion of the object, based upon the first and second sets of rotationally invariant descriptors. Other applications are also described.

Abstract: In order to acquire height information regarding a subject disposed on the internal surface of an elongated tubular member, an image processing apparatus according to the present disclosure, includes a processor the processor including hardware and configured to perform the steps of receiving a first image and a second image acquired from a subject using an optical system having a field of view in a direction of at least about 90° to a central axis of the optical system, the first image acquired at a first position, the second image acquired at a second position, the second position different from the first position along the central axis; and calculating a distance between the subject and the central axis of the optical system, based on a distance between the first position and the second position, and based on the corresponding points in the third image and in the fourth image.

Abstract: A multi-camera endoscope which includes an elongated shaft terminating with a tip section turnable by way of a bending section, wherein the tip section includes: a front-pointing camera and a discrete front illuminator associated therewith; a front fluid injector configured for cleaning at least one of said front-pointing camera and said discrete front illuminator; a side-pointing camera and a discrete side illuminator associated therewith; a side fluid injector configured for cleaning at least one of said side-pointing camera and said discrete side illuminator; a working channel configured for insertion of a surgical tool; and a pathway fluid injector for inflating and/or cleaning a body cavity into which the endoscope is inserted.

Abstract: An endoscope magnification optical system includes, in order from an object side, a first lens group having a negative power, a second lens group having a positive power, and a third lens group having a meniscus lens with a convex surface facing the object side. A distance from a lens surface of the first lens group that is nearest to the object side to an image surface is kept constant while the second lens group is moved in an optical axis direction with respect to the first lens group and the third lens group, which are fixed lens groups, and thereby an optical image is magnified.

Abstract: An in-vivo monitoring camera system includes an image capturing portion (camera unit 11) that is capable of being introduced into a body, a support tube (13) that has a connection portion (trocar connection portion 13x) with a tubular tool (trocar 31) which is capable of being introduced into the body on one end side and has a joining portion (protrusion type joining portion 13y) to the image capturing portion on another end side, a cable (camera-side cable 12) that is connected with the image capturing portion and passes through the support tube, and a control system that is electrically connected with the cable and includes at least a display device (18).

Abstract: An endoscope apparatus measures a subject using a pattern projection image of the subject on which a light and dark pattern of light is projected. The endoscope apparatus includes an insertion tube having a central axis, an image sensor, an objective optical system configured to form an image of the subject on the image sensor, an illumination light source, a pattern projector configured to project the light and dark pattern onto the subject, a projection window for the pattern projector, and an observation window for the objective optical system. The objective optical system has a prism configured to direct light incident through the observation window to a direction toward the image sensor, and the objective optical system is disposed such that an optical axis of the light directed by the prism and incident on the image sensor is offset relative to the central axis of the insertion tube.

Abstract: An endoscope image processing apparatus includes a region-of-interest detection apparatus configured to sequentially receive observation images obtained by performing image pickup of an object and perform processing for detecting a region of interest for each of the observation images, and a processor. The processor calculates an appearance time period as an elapsed time period from a time when the region of interest appears within the observation image when the region-of-interest detection apparatus detects the region of interest, and starts emphasis processing for emphasizing a position of the region of interest existing within the observation image at a timing at which the appearance time period reaches a predetermined time period.

Abstract: Provided is an imaging apparatus including: a plurality of pixels; a scan unit configured to perform a first scan that outputs, from a first pixel of the plurality of pixel, a first signal based on a light flux that has passed through a first region of an exit pupil of imaging optics and a second scan that outputs, from a second pixel of the plurality of pixels, a second signal based on a light flux that has passed through a second region that is a part of the first region; a determination unit configured to determine whether or not to set a second exposure time of the second pixel to be shorter than a first exposure time of the first pixel; and an exposure time setting unit configured to set the first exposure time and the second exposure time based on a determination result of the determination unit.

Abstract: An endoscope apparatus includes a detecting section to which an observation image of a subject is sequentially inputted, the detecting section being configured to detect a characteristic region in the observation image based on a predetermined feature value concerning the observation image, and an emphasis processing section configured to apply, when the characteristic region is continuously detected in the detecting section, emphasis processing of a position corresponding to the characteristic region to the observation image of the subject inputted after elapse of a first predetermined time period from a time when the characteristic region is detected.

Abstract: Apparatus for controlling the focus of a camera arranged to capture a sequence of frames, includes an image processor configured to: form an image characteristic for a plurality of blocks of a first frame, each block comprising one or more pixels of the first frame; and calculate an image parameter for each block by combining the image characteristics of blocks lying within a predefined zone relative to that block; and a focus controller configured to derive a measure of focus for a selected frame area of the first frame by identifying a set of blocks whose respective predefined zones, when combined, substantially represent the selected frame area, and forming a measure of focus for the selected frame area by so combining the image parameters of the set of blocks; wherein the focus controller is configured to generate a signal for controlling camera focus in dependence on the measure of focus formed for the selected frame area of the first frame.

Abstract: An endoscope system capable of setting the optimal balance of light source wavelengths in accordance with a diagnosis purpose is provided. An endoscope system includes a diagnosis purpose acquisition unit, a plurality of light sources with different light emission wavelengths, a light quantity ratio storage unit, a light quantity ratio selection unit, and a light source control unit. The diagnosis purpose acquisition unit acquires a diagnosis purpose. The light quantity ratio storage unit stores correspondence between the diagnosis purpose and a plurality of light quantity ratios with different balances of respective emission light quantities of the plurality of light sources. The light quantity ratio selection unit refers to the light quantity ratio storage unit and selects the light quantity ratio that is used for the acquired diagnosis purpose. The light source control unit controls the plurality of light sources to emit illumination light with the selected light quantity ratio.

Abstract: Installing an optical cable at an installation location includes routing a second end of the optical cable towards the installation location; wrapping the second end of the optical cable around a portion of a cable spool at the installation location; attaching the second end of the optical cable to a connector holder disposed at the cable spool; and turning a crank arm to wind the cable spool, thereby winding slack length of the optical cable around the drum. Some types of crank arms are removable from the cable spool. Other types of crank arms are collapsible relative to the cable spool.

Abstract: A video laryngoscope system, comprising a laryngoscope blade coupled to a video monitor via a data cable. At least one of the video monitor or the data cable comprise logic to: identify the laryngoscope blade; determine which of the laryngoscope blade, the video monitor, and the data cable have a most up-to-date set of image capture settings based on the identified laryngoscope blade; and transmit the most up-to-date set of image capture settings to the laryngoscope blade for use in capturing intra-airway images.

Abstract: A system for active-training a neural network includes an input interface to receive a set of images, a memory to store an active sampler, a feature generator and a subset of the images selected from the set of the images, the subset of the images having similarity values based on a predetermined feature domain information, at least one processor to train the feature generator by use of the active sampler. The active sampler is configured to perform first-selecting, from the subset of the images, a pair of images as matching pair images according to a threshold of similarity values, second-selecting a pair of images from another subset of the images, feeding the matching pair images and the unmatched pair images to the feature generator, updating weighting parameters and increasing the threshold according to preset values an output interface to render the weighting parameters of the feature generator.

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.