Abstract TMP61: Telerobotic Neurovascular Interventions With Magnetic Manipulation

Abstract

Background: Advances in robotic technology have been adopted in various subspecialties of both open and minimally invasive surgery, offering benefits such as enhanced surgical precision and accuracy with reduced efforts and fatigue. Despite the advantages, robotic applications to endovascular neurosurgery have remained largely unexplored due to technical challenges such as the miniaturization of robotic devices that can navigate the complex and tortuous cerebral vasculature. Although some commercial robotic systems enable precise manipulation of conventional guidewires for coronary and peripheral vascular interventions, they remain unsuited for neurovascular applications due to the considerably smaller and more tortuous anatomy of cerebral arteries. Methods: We present a teleoperated robotic system designed for neurovascular interventions based on magnetic steering and navigation. Our system consists of a magnetically controlled guidewire, a robot arm with a permanent magnet attached to its end-effector for steering control of the guidewire, a set of motorized linear drives to advance or retract the guidewire and a microcatheter, and a remote-control console to operate the system under feedback from real-time fluoroscopic imaging and visualization. Results: With a life-sized neurovascular phantom, we demonstrate the navigational capability to reach several branches of circle of Willis and distal cerebral vasculature with the magnetic guidewire under teleoperation of the system. We further demonstrate telerobotically-assisted therapeutic procedures including coil embolization and clot retrieval thrombectomy for intracranial aneurysms and ischemic stroke, respectively. Conclusion: Our telerobotic neurointerventional platform could enable safer and quicker access to hard-to-reach lesions, significantly reduce operative time and perioperative risk by reducing intravascular manipulation, minimize the radiation exposure to interventionalists, and open the possibility of remote procedural services to address challenges in current stroke systems of care. Note: Animal testing will be performed in Q3 2021 and the results will be presented at ISC.