Apparatus systems and methods for flushing gas from a catheter of a robotic catheter system

Abstract

Apparatus, systems and methods for flushing a lumen of a catheter instrument to reduce or eliminate bubbles within the lumen. An interface valve is adapted for attachment to a proximal end of the catheter instrument and can receive a working instrument for insertion into the catheter instrument lumen. A fluid supply line and purge lines are coupled to the interface valve and in fluid communication with at least a portion of the interface valve lumen. Flow of fluid (e.g. saline and a gas such as bubbles) through purge lines is controllable using clamps such that fluid flowing into the interface valve lumen can be manipulated to flow in different directions through different portions of the interface valve lumen for evacuation through different purge lines, thus allowing for purging of forward and backward flows to remove gas or bubbles from the catheter instrument lumen.

What is claimed is: 
     
         1 . An apparatus for engaging a working instrument configured for insertion into a robotically controlled elongate instrument, the apparatus comprising:
 a robotically controlled elongate instrument;   a chamber body having a proximal end configured for receiving the working instrument and a distal end coupled to a proximal end of the robotically controlled elongate instrument, wherein the working instrument includes an elongate body that can be advanced through a lumen defined by the chamber body and into a lumen defined by the robotically controlled elongate instrument; and   a fastener coupled to the proximal end of the chamber body and to a compressible seal, wherein the fastener is configured such that tightening of the fastener causes the compressible seal to clamp around an outer surface of the working instrument to grip the working instrument.   
     
     
         2 . The apparatus of  claim 1 , further comprising at least one compliant seal positioned in the chamber body to provide a fluid tight seal along a portion of the elongate body of the working instrument located within the chamber body, wherein the compliant seal is configured to accommodate robotically controlled manipulation of the working instrument, while maintaining seal integrity around the working instrument 
     
     
         3 . The apparatus of  claim 2 , wherein the compliant seal is configured to accommodate dithering of the working instrument for the purpose of measuring force at a distal end of the working instrument, while maintaining seal integrity around the working instrument. 
     
     
         4 . The apparatus of  claim 1 , wherein the chamber body comprises a plurality of compliant seals in the form of dome seals. 
     
     
         5 . The apparatus of  claim 1 , further comprising at least one compliant seal which provides a fluid tight seal around the working instrument. 
     
     
         6 . The apparatus of  claim 1 , wherein the compressible seal acts to stabilize the working instrument relative to the chamber body 
     
     
         7 . The apparatus of  claim 1 , wherein the chamber body is in fluid communication with a purge line arranged to remove bubbles from fluid flowing through the chamber body lumen. 
     
     
         8 . The apparatus of  claim 1 , further comprising a threaded connector configured to secure the chamber body to the fastener. 
     
     
         9 . The apparatus of  claim 8 , wherein the compressible seal is disposed between the threaded connector and the fastener, wherein the compressible seal is capable of assuming an open state and a closed state depending on the force applied to the compressible seal. 
     
     
         10 . The apparatus of  claim 9 , wherein the compressible seal assumes the open state to define an aperture through which the elongate body of the working instrument can be advanced when the fastener is tightened against the threaded connector. 
     
     
         11 . The apparatus of  claim 1 , wherein the fastener is configured as a handle suitable for robotic manipulation. 
     
     
         12 . The apparatus of  claim 1 , further comprising a bellows assembly coupled to the chamber body and to the robotically controlled elongate instrument, wherein the bellows assembly is configured to extend and retract in an axial direction to allow for dithering of the working instrument for the purpose of measuring force at a distal end of the working instrument. 
     
     
         13 . The apparatus of  claim 12 , wherein the bellows assembly comprises a purge port that is in fluid communication with a purge line such that fluid flowing through the bellows assembly can be released into the purge line. 
     
     
         14 . The apparatus of  claim 12 , wherein the bellows assembly is configured to facilitate flushing of the robotically controlled elongate instrument.