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

• US 20080234631A1
• Filed: 03/19/2008
• Published: 09/25/2008
• Est. Priority Date: 03/19/2007
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Reis, Gene
• Granted Patent: US 7,922,693 B2
• Time in Patent Office: Days
• US Class Current: 604/122
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/741 Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery

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 he 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.

Claims

1. An apparatus for flushing a lumen of a catheter instrument, comprising:

an interface valve having a proximal end and a distal end that is adapted for attachment to a proximal end of the catheter instrument, the proximal end and lumen of the interface valve being configured to receive a working instrument for insertion into the lumen of the catheter instrument;

a fluid supply line coupled to the interface valve and being in fluid communication with at least a portion of the interface valve lumen;

a first purge line coupled to the interface valve; and

a second purge coupled to the interface valve, wherein the first and second purge lines are controllable 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.

2. The apparatus of claim 1, further comprising

an outlet port in fluid communication with the first and second purge lines, wherein fluid evacuated through the first and second purge lines is evacuated through the outlet port.

3. The apparatus of claim 1, wherein the first and second purge lines are controllable such that fluid flowing into the interface valve lumen can be manipulated to flow

in a forward direction towards the catheter instrument and be evacuated through the first purge line, or

in a backwards direction away from the catheter instrument and be evacuated through the second purge line.

4. The apparatus of claim 1, wherein the first and second purge lines are controllable such that fluid flowing into the interface valve lumen can be manipulated to flow

in a forward direction towards the catheter instrument and be evacuated through the first purge line, and

a backwards direction away from the catheter instrument and be evacuated through the second purge line.

5. The apparatus of claim 1, further comprising

a first clamp associated with the first purge line to control flow of fluid through the first purge line;

and

a second clamp associated with the second purge line to control flow of fluid through the second purge line.

6. The apparatus of claim 1, wherein the first and second clamps are adjustable pinch clamps.

7. The apparatus of claim 1, further comprising

an adapter and an outlet port in fluid communication with the adapter, the adapter comprising a first inlet for receiving fluid from the first purge line, a second inlet for receiving fluid from the second purge line and an outlet in fluid communication with the first and second inlets and the outlet port.

8. The apparatus of claim 7, further comprising

a one-way valve disposed between the adapter and the outlet port to prevent fluid from flowing backwards through the adapter.

9. The apparatus of claim 7, further comprising:

a first clamp disposed between the adapter and the outlet port, the first clamp being controllable to open and close a purge line extending between the adapter outlet and the outlet port; and

a second clamp disposed between the adapter and the interface valve, the second clamp being controllable to open and close one of the purge lines.

10. The apparatus of claim 1, the interface valve comprising

a bellows assembly in fluid communication with one of the purge lines, the bellows assembly comprising a first bellows member having a port extending there from, and a second bellows member defining an aperture, wherein the port and the aperture are in fluid communication with the purge line such that fluid flowing through the bellows assembly can be released through the aperture and the port and into the purge line.

11. The apparatus of claim 1, the interface valve comprising a valve assembly configured to close a portion of the lumen of the interface valve when the working instrument is not inserted through the valve assembly.

12. The apparatus of claim 11, the valve assembly comprising:

a valve body in fluid communication with a purge line;

an interface member configured to be secured to the valve body; and

a seal member capable of assuming open and closed states depending on compression of the seal member.

13. The apparatus of claim 12 further comprising:

a fastener, wherein the fastener is securable to the interface member such that the seal member is disposed between the fastener and a the threaded member, wherein the fastener is loosened and the seal member is uncompressed to assume an open state to define an aperture through which the working instrument can be inserted, when the fastener is tightened the seal member is compressed to assume a closed state to close the aperture such that no working catheter is inserted through the valve assembly.

14. The apparatus of claim 1, wherein the fluid supply line is coupled to the interface valve at a first location, the first purge line coupled to the interface valve at a second location, and the second purge line is coupled to the interface valve at a third location, wherein the first location is between the second and third locations.

15. A system for flushing a lumen of a catheter instrument of a robotic surgical system, the system comprising:

a robotically controllable catheter instrument having a proximal end, a distal end, and defining a lumen;

a robotically controllable sheath instrument, wherein the catheter instrument is coaxially positioned within the sheath instrument;

a working instrument;

an interface valve having a proximal end, a distal end and defining a lumen, the distal end being adapted for attachment to a proximal end of the catheter instrument, and interface valve lumen being configured to receive the working instrument through the interface valve proximal end for insertion into the catheter instrument lumen;

a fluid supply line coupled to the interface valve, the fluid supply line being in fluid communication with at least a portion of the interface valve lumen;

a first purge line coupled to the interface valve; and

a second purge coupled to the interface valve, wherein the first and second purge lines are controllable 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.

16. The system of claim 15, wherein the first and second purge lines are controllable such that fluid flowing into the interface valve lumen can be manipulated to flow

in a forward direction towards the catheter instrument and be evacuated through the first purge line, or

in a backwards direction away from the catheter instrument and be evacuated through the second purge line.

17. The system of claim 15, wherein the first and second purge lines are controllable such that fluid flowing into the interface valve lumen can be manipulated to flow

in a forward direction towards the catheter instrument and be evacuated through the first purge line, and

a backwards direction away from the catheter instrument and be evacuated through the second purge line.

18. The system of claim 15, further comprising

a first clamp associated with the first purge line to control flow of fluid through the first purge line;

and

a second clamp associated with the second purge line to control flow of fluid through the second purge line.

19. The system of claim 15, the interface valve comprising a valve assembly configured to close a portion of the interface valve lumen when the working instrument is not inserted through the valve assembly.

20. The apparatus of claim 19, the valve assembly comprising:

a valve body in fluid communication with a purge line;

an interface member configured to be secured to the valve body; and

a seal member capable of assuming open and closed states depending on compression of the seal member.

21. The apparatus of claim 20, the valve assembly further comprising:

a fastener, wherein the fastener is securable to the interface member such that the seal member is disposed between the fastener and the threaded member, wherein the fastener is loosened and the seal member is uncompressed to assume an open state defining an aperture through which the working instrument can be inserted, when the fastener is tightened onto the interface member, the seal member is compressed to assume a closed state and close the aperture such that no working catheter is inserted through the valve assembly.

22. A method of flushing a lumen of a catheter instrument to remove air bubbles from the catheter instrument lumen, the method comprising:

introducing a fluid into a lumen of an interface valve having a distal end attached to a proximal end of the catheter instrument, the interface valve defining a lumen, wherein a working instrument is inserted through the interface valve lumen and into the catheter instrument lumen; and

controlling purging of fluid from the interface valve lumen 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.

23. The method of claim 22, wherein purging of fluid from the interface valve includes controlling clamping of multiple purge lines in fluid communication with the interface valve lumen.

24. An apparatus for sealingly engaging a working instrument configured for insertion into a robotically controllable guide catheter, the apparatus comprising:

a chamber body having a proximal end configured for receiving the working instrument and a distal end configured for interfacing with a proximal end of the guide catheter, 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 guide catheter;

a fastener coupled to the proximal end of the chamber body and configured to removably secure the working instrument within the chamber body lumen; and

a plurality of compliant spacer elements 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.

25. The apparatus of claim 24, wherein the plurality of spacer elements are configured to maintain the fluid tight seal while the working instrument is moved forwards and backwards within the chamber body lumen.

26. The apparatus of claim 25, wherein the plurality of spacer elements are configured to maintain the fluid tight seal during dithering of the working instrument.

27. The apparatus of claim 24, wherein the chamber body is in fluid communication with a purge line arranged to remove bubbles from fluid flowing through the chamber body lumen.

28. The apparatus of claim 24, wherein the compliant spacer elements are compliant washers, and each compliant washer defines an aperture through which the elongate body of the working instrument can be advanced, and wherein the fluid tight seal is formed between an inner surface of the compliant washer defining an aperture and an outer surface of the elongate body of the working instrument.

29. The apparatus of claim 24, further comprising a threaded connector configured to secure the chamber body to the fastener.

30. The apparatus of claim 29, further comprising a compressible seal 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.

31. The apparatus of claim 30, 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.

32. The apparatus of claim 24, wherein the chamber body comprises a plurality of dome seals and a plurality of washers.

33. The apparatus of claim 32, wherein the dome seals are dome washers, the chamber body comprising a first dome washer that faces a forward direction towards the guide catheter, and a second dome washer that faces a backwards direction away from the guide catheter.

34. The apparatus of claim 33, wherein the forward facing dome washer seals a proximal end of the chamber body.

35. The apparatus of claim 33, wherein the backward facing dome washer seals a distal end of the chamber body.