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Aneurysm III: Interprofessional Care01:26

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Aneurysm management involves either conservative medical therapy or surgical intervention, depending on the size and symptoms of the aneurysm. Conservative management is generally reserved for smaller, asymptomatic aneurysms, while larger or symptomatic aneurysms often necessitate surgical repair.Conservative Medical TherapyFor small, asymptomatic aneurysms, particularly abdominal aortic aneurysms (AAA) less than 5.5 centimeters in diameter, conservative medical therapy is recommended. This...
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Serially-Connected Soft Continuum Robots for Endovascular Emergencies.

Aedan Mangan1, Sukjun Kim1, Noah Jones1

  • 1Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, CA 92093, USA.

IEEE Transactions on Medical Robotics and Bionics
|September 8, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces a novel robotic system for endovascular surgery, combining a soft growing robot with a notched continuum robot. This innovative approach enhances steering in complex anatomy, potentially improving patient access to care.

Keywords:
Medical roboticscontinuum robotsendovascular surgerymechanical thrombectomysoft robotics

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Area of Science:

  • Medical Robotics
  • Biomedical Engineering
  • Minimally Invasive Surgery

Background:

  • Endovascular surgeries often use push-based catheters and guidewires, demanding extensive training and risking anatomical stress, especially in tortuous vessels.
  • Limited patient access to high-quality treatment stems from the technical challenges of current endovascular procedures.
  • Existing robotic systems can still cause vascular damage due to high stresses from sliding against vessel walls.

Purpose of the Study:

  • To develop and evaluate a novel robotic architecture for improved steering and navigation in endovascular procedures.
  • To overcome the challenge of reliable steering for small-scale growing robots in complex vascular anatomy.
  • To enhance the safety and accessibility of endovascular treatments.

Main Methods:

  • A hybrid robotic system combining a hydraulically-actuated soft growing robot with a soft, tendon-driven notched continuum robot was designed and manufactured.
  • The system's control architecture, including the notched continuum robot, growing robot, and proximal actuation subsystem, was developed.
  • Performance was evaluated in navigating extremely tortuous vessels and complex aortic arch types.

Main Results:

  • The soft notched continuum robot demonstrated successful steering capabilities, even in challenging aortic arch anatomies.
  • A 2.67 mm diameter growing robot, comparable to current catheters, was deployed and navigated through highly tortuous vessels, pulling an aspiration catheter.
  • The integrated system facilitated active steering in proximal regions and navigation in distal, tortuous vasculature.

Conclusions:

  • The proposed robotic architecture effectively addresses the steering limitations of small-scale growing robots in endovascular applications.
  • This technology has the potential to significantly reduce procedure times and expand patient access to advanced endovascular care.
  • The combination of active steering and minimally invasive navigation offers a promising advancement for the future of endovascular surgery.