Replace UITabBar with UIToolBar

Question

I have an application with UITabBarController with a UINavigationController subview, which holds a table view. I want to be able to switch out the UITabBarController with a UIToolbar for a specific view controller when a cell is selected.

Here's an example from some other application, which reacts the same way:

And when you select a table view cell:

The detailed view controller (second screen) needs to replace the parent UITabBarController with an UIToolbar. Does anyone know how I can do this?