Apparatus systems and methods for flushing gas from catheter of a robotic catheter system
First Claim
1. An apparatus for sealingly engaging a working instrument configured for insertion into a robotically controlled guide catheter, the apparatus comprising:
- a robotically controlled guide catheter;
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 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 robotically controlled guide catheter;
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;
a bellows assembly coupled to the chamber body and to the robotically controlled guide catheter, 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; and
a 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 the dithering of the working instrument, while maintaining seal integrity around the working instrument.
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Accused Products
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.
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Citations
20 Claims
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1. An apparatus for sealingly engaging a working instrument configured for insertion into a robotically controlled guide catheter, the apparatus comprising:
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a robotically controlled guide catheter; 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 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 robotically controlled guide catheter; 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; a bellows assembly coupled to the chamber body and to the robotically controlled guide catheter, 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; and a 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 the dithering of the working instrument, while maintaining seal integrity around the working instrument. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An apparatus for sealingly engaging a working instrument configured for insertion into a robotically controlled elongate instrument, the apparatus comprising:
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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; 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 seat to clamp around an outer surface of the working instrument to grip the working instrument; and a 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 seat is configured to accommodate robotically controlled manipulation of the working instrument, while maintaining seal integrity around the working instrument. - View Dependent Claims (17, 18, 19, 20)
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Specification