Patent ID: 8377077

Claim:
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.