As per this matter, I think the Bachelor Cat has already made it very clear. It's very unlikely that you could win the case. He sounds as professional as a lawyer!
On the other hand, think why you will buy the name off them. If you have to have that name, they are probably facing the same problem. Even if it's not the case, you will probably get blackmailed! Do you think it's worth? It's not a name like IBM, SONY, etc that you must have and you live on, after all.
It sounds as if you are holding a legal entity instead of a trading name. In this case, to change name is very easy and inexpensive unless you have already got a lot stationery printed under that name. The total cost to do this is no more than a couple of hundred bucks. If you want to claim it back, it probably takes you long time and costs you a fortune. Besides, you may have already signed an agreement with your agent which contains indemnity clause before they started doing anything for you. In that case, there's no way you could win.
Just forget it and focus on your business. One more transaction will make you more money than that lousy cost! Of course, you have to learn a lesson. For this sort of things, if you cannot do it yourself, go to a reputable company instead of a cheap one. On the market, there are plenty of agents. They are NOT the same.
Finally, good luck!