Instructions
Play through the game until you reach the decontamination chamber. A cut scene will play where Joker releases toxin, trapping a pair of guards and a henchman. The other guards will ask Batman to rescue them.
Enter the decontamination chamber and rescue the first guard as normal.
Skip the henchman when you come across him.
Continue through and rescue the other guard when you see him.
Return to the henchman and rescue him, triggering the cut scene and unlocking the trophy.