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

#The invention relates generally to robotically controlled systems, such as telerobotic surgical systems, and more particularly, to flushing a catheter of a robotic surgical system to remove or purge gas or air bubbles from the catheter lumen.

#Robotic interventional systems and devices are well suited for performing minimally invasive medical procedures as opposed to conventional techniques wherein the patient's body cavity is open to permit the surgeon's hands access to internal organs. Traditionally, surgery utilizing conventional procedures meant significant pain, long recovery times, lengthy work absences, and visible scarring. Advances in technology have lead to significant changes in the field of medical surgery such that less invasive surgical procedures, in particular, minimally invasive surgery (MIS), are increasingly popular. A “minimally invasive medical procedure” is generally a procedure that is performed by entering the body through the skin, a body cavity, or an anatomical opening utilizing small incisions rather than large open incisions in the body.

#Various medical procedures are considered to be minimally invasive including, for example, mitral and tricuspid valve procedures, patent formen ovale, atrial septal defect surgery, colon and rectal surgery, laparoscopic appendectomy, laparoscopic esophagectomy, laparoscopic hysterectomies, carotid angioplasty, vertebroplasty, endoscopic sinus surgery, thoracic surgery, donor nephrectomy, hypodermic injection, air-pressure injection, subdermal implants, endoscopy, percutaneous surgery, laparoscopic surgery, arthroscopic surgery, cryosurgery, microsurgery, biopsies, videoscope procedures, keyhole surgery, endovascular surgery, coronary catheterization, permanent spinal and brain electrodes, stereotactic surgery, and radioactivity-based medical imaging methods. With MIS, it is possible to achieve less operative trauma for the patient, reduced hospitalization time, less pain and scarring, reduced incidence of complications related to surgical trauma, lower costs, and a speedier recovery.

#Referring now to the drawings in which like reference numbers represent corresponding parts throughout and in which:

#FIG. 1 illustrates a robotic catheter system in which apparatus, system and method embodiments for flushing a catheter lumen may be implemented;

#FIG. 2 illustrates an example of an operator workstation of a robotic catheter system with which control of a catheter can be inputted using different user interfaces and controls;

#Embodiments of the invention generally relate to apparatus, systems and methods for flushing a lumen of a catheter instrument to purge or remove gases or air bubbles from the catheter instrument lumen. Embodiments utilize a structural configuration that advantageously controls how flushing fluid flows through different purge lines using, e.g., pinch valves or other suitable controllers. In this manner, flow of fluids (e.g., liquid and gas such as bubbles) into and out of different sections of a lumen of an interface valve coupled to a proximal end of a catheter instrument and configured to receive a working instrument can be manipulated such that fluids flow in different directions through different portions of the interface valve lumen for evacuation of fluids through different purge lines. For example, purge tubes can be controlled to implemented a forward flush and/or a backwards flush and can be implemented before or during a surgical procedure, e.g., during an exchange of a working instrument. Robotic surgical systems in which embodiments of the invention may be implemented are described with reference to FIGS. 1-5B. Apparatus, system and method embodiments for removing or purging air bubbles from a catheter are described with reference to FIGS. 6A-8H.

#Referring to FIG. 1, a robotically controlled surgical system (S) in which apparatus, system and method embodiments for flushing a central lumen of a catheter instrument (16) may be implemented includes a robotic catheter assembly (A) having a robotic sheath instrument (30) (generally referred to as “sheath instrument”) and/or robotic catheter or guide or catheter instrument (18) (generally referred to as “catheter instrument”) that are controllable using a robotic instrument driver (16). During use, a patient is positioned on an operating table (22) to which a robotic catheter assembly (A) is coupled or mounted. In the illustrated example, the system (S) includes an operator workstation (2), an electronics rack (6) and associated bedside electronics box, a setup joint mounting brace (20), and the instrument driver (16). A surgeon is seated at the operator workstation (2) and can monitor the surgical procedure, patient vitals, and control one or more catheter devices.

#Various system (S) components in which embodiments of the invention may be implemented are illustrated in close proximity to each other in FIG. 1, but embodiments may also be implemented in systems (S) in which components are separated from each other, e.g., located in separate rooms. For example, the instrument driver (16), operating table (22), and bedside electronics box may be located in the surgical area with the patient, and the operator workstation (2) and the electronics rack (6) may be located, e.g., outside of the surgical area behind a shielded partition. System (S) components may also communicate with other system (S) components via a network to allow for remote surgical procedures during which the surgeon may be located at a different location, e.g., in a different building or at a different hospital utilizing a communication link transfers signals between the operator control station (2) and the instrument driver (16). System (S) components may also be coupled together via a plurality of cables or other suitable connectors (14) to provide for data communication, or one or more components may be equipped with wireless communication components to reduce or eliminate cables (14). In this manner, a surgeon or other operator may control a surgical instrument while being located away from or remotely from radiation sources, thereby decreasing radiation dosage to the operator.