Derivative works

Defensive Disclosure: System for Treating Embolism and Associated Devices and Methods (Based on U.S. Patent 11,974,910)

Publication Date: May 14, 2026
Reference: U.S. Patent 11,974,910 ("the '910 patent")

Abstract: This document discloses novel variations, modifications, and alternative applications related to the core technology described in U.S. Patent 11,974,910. The '910 patent describes a system for intravascular clot removal, primarily characterized by a pre-charged vacuum source coupled to a catheter to provide rapid aspiration. The disclosures herein are intended to enter the public domain, thereby serving as prior art for any subsequent patent applications that might seek to claim these or similar concepts. The described variations include alternative materials, expanded operational parameters, cross-domain applications, integration with emerging technologies, and fail-safe or alternative operational modes.

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Derivatives of Core Concept 1: Pre-Charged, Large-Bore Aspiration System

The fundamental concept involves generating a vacuum in a pressure source (e.g., a syringe) while it is isolated from the catheter by a valve. Upon opening the valve, this stored vacuum rapidly evacuates the catheter, creating a powerful, instantaneous suction force at the distal tip to engage and aspirate a thrombus. The following are derivative concepts built upon this principle.

1. Material & Component Substitution

• Derivative 1.1: Shape-Memory Polymer (SMP) Funnel-Tip Catheter

  • Enabling Description: The distal tip of the aspiration catheter is fabricated from a shape-memory polymer (SMP) with a glass transition temperature (Tg) slightly above normal body temperature (e.g., 40-45°C). The tip is pre-formed into an expanded, funnel-like or flared geometry but is maintained in a constrained, low-profile state for delivery through an introducer sheath. Upon reaching the target thrombus, a small bolus of warmed sterile saline (e.g., 45-50°C) is injected through the catheter's lumen. This temperature change raises the SMP above its Tg, causing the tip to self-expand to its pre-formed funnel shape. This significantly increases the effective capture area of the catheter's mouth. The pre-charged vacuum from the aspiration syringe is then applied, drawing the clot into this widened aperture, which improves the clot capture efficiency and reduces the likelihood of fragmentation. The SMP can be a biocompatible polyurethane or an oligo(ε-caprolactone)diol-based copolymer.
  • Diagram:

    sequenceDiagram
        participant User
        participant Catheter
        participant Thrombus
        User->>Catheter: Advance to target site
        User->>Catheter: Inject warm saline
        activate Catheter
        Catheter->>Catheter: Distal SMP tip expands to funnel shape
        deactivate Catheter
        User->>Catheter: Apply pre-charged vacuum
        Catheter->>Thrombus: Aspirate with wide-mouth funnel
        Thrombus-->>Catheter: Engulfed and removed
    

• Derivative 1.2: Piezoelectric High-Speed Valve Actuator

  • Enabling Description: The manually operated fluid control device (e.g., a stopcock) is replaced with an electronically controlled, high-speed piezoelectric valve integrated into the catheter hub assembly. The valve utilizes a stack of piezoelectric ceramic actuators that, upon application of a high-voltage pulse, undergo rapid mechanical deformation to open a valve gate in under a millisecond. This actuation speed is orders of magnitude faster than a manual turn-valve, resulting in an almost instantaneous pressure equalization between the pre-charged vacuum source and the catheter lumen. This generates a powerful fluid "hammer" or "shockwave" effect at the distal tip, which serves to dislodge and fragment adherent thrombus from the vessel wall, facilitating its subsequent aspiration. The valve can be triggered by a simple electronic button on the handle of the device.
  • Diagram:

    graph TD
        subgraph Control_Unit
            A[User Trigger Signal] --> B[High-Voltage Pulse Generator];
        end
        subgraph Valve_Assembly
            B --> C[Piezoelectric Actuator Stack];
            C -- Deforms & Unseats --> D[Valve Gate];
        end
        subgraph Fluid_Path
            E[Charged Vacuum Source] -- D --> F[Catheter Lumen];
            F --> G[Thrombus];
        end
        style C fill:#ccf,stroke:#333,stroke-width:2px
    

• Derivative 1.3: Graphene-Reinforced, Thin-Wall Catheter

  • Enabling Description: To maximize the inner diameter (and thus flow rate) for a given outer French size, the catheter shaft is constructed using a composite material. The body of the catheter comprises a Pebax or nylon matrix that is reinforced with graphene nanoplatelets or carbon nanotubes. This reinforcement significantly increases the radial and hoop strength of the catheter shaft, preventing collapse even under near-perfect vacuum conditions (-29 inHg). This allows the wall thickness to be reduced by up to 30% compared to a standard braided catheter, yielding a larger aspiration lumen. The inner surface is still lined with a lubricious material like PTFE to reduce friction during clot extraction.
  • Diagram:

    graph TD
        A[Aspiration Lumen]
        B[PTFE Liner (Low Friction)]
        C[Graphene-Pebax Composite Layer (High Strength)]
        D[Hydrophilic Outer Coating]
    
        subgraph Catheter Cross-Section
            A --- B --- C --- D
        end
    

• Derivative 1.4: Self-Sealing Gel Port for Multi-Instrument Access

  • Enabling Description: The side port (e.g., 108) of the Y-adapter or hemostasis valve is replaced with a self-sealing port fabricated from a cross-linked silicone or hydrogel material. This design eliminates the need for a mechanical stopcock. The tip of the vacuum tubing is a blunt cannula which is simply pushed through the gel port to establish a fluid connection. Upon removal, the port's elastomeric properties ensure it immediately re-seals, preventing blood loss. This design simplifies the connection process and removes a potential point of flow restriction, thereby improving the efficiency of the vacuum transfer from the syringe to the catheter. The gel can be formulated to withstand dozens of puncture-reseal cycles.
  • Diagram:

    graph LR
        A[Vacuum Cannula] -- 1. Puncture --> B(Self-Sealing Gel Port);
        B -- Integrated into --> C[Catheter Hub];
        C -- Connects to --> D[Aspiration Lumen];
        B -- 2. Withdraw Cannula --> E{Port Reseals Automatically};
    

• Derivative 1.5: Disposable Pre-Charged Vacuum Cartridge

  • Enabling Description: The re-usable syringe and tubing are replaced by a sterile, single-use, disposable vacuum cartridge. This cartridge consists of a rigid, clear polymer (e.g., polycarbonate) housing a chamber pre-evacuated at the factory to a certified vacuum level (e.g., -28 inHg). The outlet of the cartridge features a frangible diaphragm or a pierceable seal and a standard Luer lock fitting. In a clinical setting, the operator simply attaches the cartridge to the catheter's side port and twists or pushes it to break the internal seal. This action instantaneously releases the pre-stored vacuum into the catheter, ensuring maximum and consistent aspiration force every time without any user-dependent variability in pulling a syringe plunger. The cartridge itself acts as the collection container for the aspirated thrombus and blood.
  • Diagram:

    graph TD
        A[User attaches cartridge to catheter] --> B{Twist/Push to Break Seal};
        B --> C[Instantaneous Vacuum Release];
        C --> D[Aspiration of Thrombus];
        D --> E[Thrombus collected in cartridge];
        E --> F[Dispose of entire unit];
    

2. Operational Parameter Expansion

• Derivative 2.1: Cryo-Thrombectomy System

  • Enabling Description: The system is adapted for cryogenic applications to treat highly friable or gelatinous clots. The catheter features a dual-lumen design. The primary lumen is for aspiration. A secondary, closed-loop lumen circulates a cryogen (e.g., compressed and expanding CO2 or N2O gas, leveraging the Joule-Thomson effect) to a metallic tip at the catheter's distal end. In use, the tip is placed in contact with the thrombus, and the cryogen is activated for 1-2 seconds, flash-freezing the surface of the clot. This solidifies the clot, making it a more cohesive mass. Immediately after, the pre-charged vacuum source is activated, aspirating the solidified clot with a reduced risk of generating smaller, embolizing fragments.
  • Diagram:

    graph TD
        subgraph Handpiece
            A[Cryogen Canister] -- Pressurized Gas --> B[Valve 1];
            C[Vacuum Syringe] -- Stored Vacuum --> D[Valve 2];
        end
        subgraph Dual-Lumen Catheter
            B --> E[Cryo-Lumen];
            E --> F(Metal Tip: Freezes Clot);
            D --> G[Aspiration Lumen];
            G --> F;
        end
        F --> H[Target Thrombus];
    

• Derivative 2.2: Micro-Scale Neurovascular Aspiration System

  • Enabling Description: The principles are scaled down for use in the delicate neurovasculature to treat ischemic stroke. The system comprises a microcatheter with an outer diameter of 0.021 inches or less. The vacuum source is a precision-calibrated, small-volume (1-5 cc) syringe with a micrometer-style actuator for fine control over the vacuum level. Alternatively, a MEMS-based peristaltic pump integrated into a handheld controller generates the negative pressure. The entire system is designed to operate at significantly lower pressures (e.g., -5 to -15 inHg) to prevent vessel trauma. The low-volume, rapid aspiration is used to remove small, targeted clots from vessels like the middle cerebral artery (MCA) or its branches.
  • Diagram:

    graph LR
        A[Microcatheter (≤ 0.021")] --> B(Distal Tip in MCA);
        C[Precision Controller] --> D{MEMS Vacuum Pump};
        D -- Generates Low-Volume/Low-Pressure Vacuum --> E[Micro-Tubing];
        E --> A;
        B -- Aspirates --> F[Fibrin Clot];
    

• Derivative 2.3: High-Frequency Oscillatory Vacuum Source

  • Enabling Description: The pressure source is modified to superimpose a high-frequency (e.g., 20-200 Hz) pressure oscillation onto the baseline negative pressure. This is achieved by placing a piezoelectric transducer or a cam-driven piston in the fluid path between the primary vacuum source and the catheter. When activated, this creates rapid, small-volume suction pulses at the catheter tip. This mechanical vibration helps to fluidize and break down the internal structure of organized, chronic thrombus, a process analogous to thixotropy. The combination of steady suction and high-frequency oscillation allows the system to aspirate dense, adherent clots that would otherwise be resistant to removal by simple suction. The frequency and amplitude are adjustable by the operator.
  • Diagram:

    graph TD
        A[Primary Vacuum Source, e.g., Syringe] --> B(Vacuum Line);
        C[Piezoelectric Oscillator] -- Modulates Pressure --> B;
        B --> D[Valve];
        D --> E[Catheter];
        E --> F(Distal Tip);
        F -- Applies Oscillatory Suction --> G[Organized Clot];
    

3. Cross-Domain Application

• Derivative 3.1: Aerospace Application - FOD Removal from Turbine Engines

  • Enabling Description: A scaled-up, industrial version is used for removing Foreign Object Debris (FOD) from inaccessible areas of jet engines during maintenance. A flexible, articulating borescope-like probe (the "catheter") is guided deep into the compressor or turbine sections. The "pressure source" is a large industrial vacuum accumulator, pre-charged to a high vacuum. When the borescope camera identifies a piece of debris (e.g., a metal shaving, a loose rivet), the operator positions the probe tip and triggers a valve. The instantaneous, high-volume inrush of air provides a powerful suction force that pulls the object into a collection trap without requiring complex mechanical grabbers, minimizing the risk of causing further damage.
  • Diagram:

    sequenceDiagram
        participant Operator
        participant BorescopeProbe
        participant VacuumAccumulator
    
        Operator->>BorescopeProbe: Navigate to FOD
        Operator->>BorescopeProbe: Identify FOD with Camera
        Operator->>VacuumAccumulator: Activate Release Valve
        VacuumAccumulator->>BorescopeProbe: Apply Stored Vacuum
        BorescopeProbe->>BorescopeProbe: Aspirate FOD
        BorescopeProbe->>Operator: Confirm Capture in Trap
    

• Derivative 3.2: Agricultural Technology - Automated, Non-Contact Fruit Harvesting

  • Enabling Description: An automated harvesting robot for delicate fruits (e.g., raspberries, premium tomatoes) uses a similar principle to avoid mechanical bruising. An array of soft, silicone-lined funnels (the "catheters") is mounted on a robotic arm. A central vacuum system maintains a large, pre-charged vacuum tank. A machine vision system identifies ripe fruit. The robotic arm positions a funnel over the target fruit without touching it. The valve for that specific funnel is opened, creating a rapid but controlled pressure drop that gently detaches the fruit from its stem and pulls it into the funnel. The fruit is then transported via a low-pressure air stream to a collection bin. This "touchless" harvesting method reduces mechanical damage and improves shelf life.
  • Diagram:

    graph TD
        A[Machine Vision] -- Identifies Ripe Fruit --> B[Robot Arm Controller];
        B -- Positions Funnel --> C[Fruit];
        B -- Sends Signal --> D{Valve Control};
        E[Pre-Charged Vacuum Tank] --> D;
        D -- Opens Valve --> F[Silicone Funnel];
        F -- Applies Gentle Suction to --> C;
        C -- Detaches & Enters --> F;
        F --> G[Transport Tube to Bin];
    

• Derivative 3.3: Consumer Electronics - High-Efficiency Liquid Cooling System Purging

  • Enabling Description: For servicing high-performance liquid-cooled PCs and servers, this method allows for rapid and complete draining of coolant loops. A small, portable vacuum pump with an integrated chamber (the "pressure source") is attached to a drain port on the cooling loop via a quick-disconnect fitting (the "catheter"). The pump pre-evacuates its chamber. A valve is then opened, applying a sudden vacuum to the entire sealed loop. This instantly lowers the boiling point of the remaining coolant, causing it to flash-vaporize and be drawn out as a gas, while also pulling out residual liquid droplets from complex radiator and water block geometries. This "flash evacuation" is more effective than simple gravity draining and prepares the loop for refilling or maintenance.
  • Diagram:

    graph LR
        subgraph Cooling System
            A[Radiator]
            B[CPU Block]
            C[GPU Block]
            D[Reservoir]
            A --> B --> C --> D --> A
        end
        subgraph Purge_Unit
            F[Portable Vacuum Pump] --> G[Vacuum Chamber]
        end
        G -- Stored Vacuum --> H{Valve};
        D -- Connects to --> H;
        H -- Opens --> I[Flash Evacuation of Coolant];
    

4. Integration with Emerging Tech

• Derivative 4.1: AI-Powered Clot Characterization and Suction Modulation

  • Enabling Description: The aspiration catheter incorporates a fiber-optic sensor at its tip capable of optical coherence tomography (OCT) or spectroscopy. As the catheter approaches the clot, the sensor provides high-resolution imaging or spectral data. A connected console with an AI inference engine, trained on a library of clot images and data, classifies the clot in real-time (e.g., "fresh/red," "organized/chronic," "calcified"). Based on this classification, the system's controller automatically adjusts the parameters of the aspiration. For a fresh clot, it might select a large-volume, high-velocity aspiration. For a calcified, adherent clot, it might select the oscillatory vacuum mode (Derivative 2.3) at a specific frequency to dislodge it safely. This ensures the optimal removal strategy is applied automatically for each specific clot type.
  • Diagram:

    graph TD
        A[Catheter with OCT Sensor] -- Scans --> B[Thrombus];
        A -- Data Stream --> C[AI Inference Engine];
        C -- Classifies Clot --> D{Clot Type Identified};
        D -- Selects Protocol --> E[Aspiration Controller];
        E -- Adjusts Parameters --> F[Variable Vacuum Source];
        F -- Executes Aspiration --> A;
    

• Derivative 4.2: IoT-Enabled Remote Case Support with Blockchain Log

  • Enabling Description: The main system console (containing the pressure source and controls) is an IoT device connected to a secure cloud platform. Each disposable component (catheter, syringe) has a unique identifier stored on an immutable blockchain ledger, ensuring authenticity and preventing reuse. During a procedure, the device streams real-time data (pressure curves, volume extracted, flow rates) to the cloud. An expert proctor can log in from anywhere in the world, view the live data, and provide real-time audio/visual guidance to the physician performing the case. Every action (e.g., "Vacuum Fired at 10:32:05 UTC, -26 inHg, 45mL aspirated") is recorded as a transaction on the blockchain, linked to the component and patient IDs, creating an unalterable, auditable record of the procedure for quality control and training.
  • Diagram:

    graph LR
        A[Thrombectomy Device] -- Real-time Data --> B(Secure IoT Gateway);
        B -- Streams Data --> C(Cloud Platform);
        D[Remote Expert] -- Views Data & Communicates --> C;
        C -- Provides Guidance to --> E[Local Physician];
        A -- Records Events --> F(Blockchain Ledger);
        G[Device/Patient Records] -- Hashed & Stored --> F;
    

• Derivative 4.3: Digital Twin-Assisted Aspiration Rehearsal

  • Enabling Description: Prior to the procedure, the patient's CT angiogram (CTA) data is used to generate a patient-specific, 3D-printable, or fully virtual "digital twin" of the affected vasculature, including the clot. The model incorporates fluid dynamics based on the patient's blood viscosity and blood pressure. The physician can then use a haptic-feedback-enabled simulator with a replica of the aspiration system to "rehearse" the procedure. This allows them to experiment with different catheter positions and vacuum application timings to see the simulated effect on the clot and blood flow. The system can predict the likelihood of complete clot removal, vessel wall suction, or distal embolization, allowing the operator to refine their strategy before entering the patient.
  • Diagram:

    flowchart TD
        A[Patient CTA Scan] --> B(3D Vascular Model Generation);
        B --> C(CFD Simulation);
        D[Catheter/System Physics Model] --> C;
        C --> E[Interactive Haptic Simulator];
        F[Physician] -- Practices on --> E;
        E -- Provides Feedback --> F;
        F -- Develops --> G[Optimized Procedural Plan];
    

5. The "Inverse" or Failure Mode

• Derivative 5.1: Collapsible Safety Lumen Catheter

  • Enabling Description: The aspiration catheter is engineered with a designated "fuse" or "collapse zone" — a short segment of the catheter shaft, typically a few centimeters proximal to the distal tip, constructed from a polymer of a significantly lower durometer (softer) than the rest of the shaft. If the catheter tip becomes completely occluded against the vessel wall (instead of a porous clot), the applied vacuum will cause this specific zone to safely and temporarily collapse inward. This collapse immediately throttles the suction force, acting as a mechanical circuit breaker to prevent the tip from causing traumatic invagination or dissection of the vessel intima. The partial collapse is reversible once the vacuum is released, allowing the operator to reposition and try again.
  • Diagram:

    stateDiagram-v2
        state "Normal Operation" as Normal
        state "Vessel Wall Occlusion" as Occlusion
        state "Safe Mode" as Safe
        [*] --> Normal
        Normal --> Occlusion: Catheter tip adheres to vessel wall
        Occlusion --> Safe: High vacuum collapses safety zone
        Safe --> Normal: User releases vacuum, zone re-expands
        state Normal {
            description Full lumen patency
        }
        state Safe {
            description Lumen partially collapsed, vacuum throttled
        }
    

• Derivative 5.2: Two-Stage "Priming and Firing" Syringe Plunger

  • Enabling Description: The syringe plunger is designed with a two-stage locking mechanism to provide a low-power "priming" aspiration before the full-power extraction. The first 30% of the plunger's travel (e.g., to the 20cc mark on a 60cc syringe) is unrestricted. At this point, a mechanical stop with a spring-loaded latch engages. This allows the operator to apply a gentle, controlled vacuum to seat the catheter against the clot. To proceed, the operator must perform a distinct action, such as depressing a thumb button on the plunger, which retracts the latch and allows the plunger to be pulled the rest of the way to its full volume, unleashing the maximum suction force. This intentional two-step process provides a safer, more controlled initial engagement with the thrombus.
  • Diagram:

    graph TD
        A(Start) --> B(Pull Plunger);
        B --> C("Engage Stage 1 Lock (e.g., 20cc)");
        C --> D["Gentle 'Priming' Aspiration"];
        C --> E{Button Press?};
        E -- No --> D;
        E -- Yes --> F(Disengage Lock);
        F --> G(Pull Plunger to Full Volume);
        G --> H["Maximum 'Firing' Aspiration"];
    

• Derivative 5.3: Acoustic Occlusion-Sensing Feedback

  • Enabling Description: The system incorporates a miniature microphone or acoustic transducer within the catheter hub or pressure source. This sensor "listens" to the fluid dynamics within the aspiration line. The system's software is trained to distinguish the acoustic signature of aspirating a semi-porous blood clot (a turbulent, gurgling sound) from the distinct high-frequency "whistle" or sudden silence that occurs when the catheter tip becomes fully occluded against the vessel wall. Upon detecting the "whistle" of a wall occlusion, the system provides an immediate audible and/or visual alarm to the operator, prompting them to release the vacuum and reposition the catheter, thus preventing potential vessel injury. This provides a non-invasive, low-power method for detecting a failure mode.
  • Diagram:

    graph LR
        A[Aspiration Flow] -- Generates Sound --> B(Acoustic Transducer);
        B -- Signal --> C[Signal Processor];
        C --> D{Pattern Recognition Algorithm};
        D -- "Clot" Sound Signature --> E[Normal Operation (Green Light)];
        D -- "Occlusion" Sound Signature --> F[Alarm (Audible/Visual)];
        F --> G[Operator Action: Reposition];
    

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Combination Prior Art Scenarios

• Combination 1: DICOM-Integrated Catheter Navigation and Volumetric Analysis

  • Description: The '910 patent's system is used with an imaging-to-print workflow utilizing the DICOM (Digital Imaging and Communications in Medicine) standard (ISO 12052) and the 3MF (3D Manufacturing Format) open-source standard. A patient's pre-operative CT scan (in DICOM format) is processed by segmentation software to isolate the clot and affected vessel. The software calculates the clot volume and generates a 3D model. This model is exported as a 3MF file to a 3D printer, which creates a patient-specific physical model for procedural planning. During the procedure, the aspirated clot material collected in the syringe (e.g., 340) is placed in a volumetric scanner. The system compares the aspirated volume to the pre-operatively calculated volume, giving the physician a quantitative measure of procedural success (e.g., "85% of clot burden removed"). This combines pre-operative planning from a medical imaging standard with a manufacturing standard for physical models and post-operative quantitative analysis.
  • Diagram:

    graph TD
        A[DICOM CT Scan] --> B{Segmentation Software};
        B -- Calculates Clot Volume --> C[Pre-Op Report];
        B -- Exports 3D Model --> D[3MF File];
        D --> E[3D Printer];
        E --> F[Physical Model for Planning];
        G[Aspiration System] -- Removes Clot --> H[Collected Specimen];
        H --> I[Volumetric Scanner];
        I -- Measures Volume --> J[Post-Op Report];
        C & J --> K{Compare Pre- and Post-Op Volume};
    

• Combination 2: WebRTC-Based Tele-Thrombectomy

  • Description: The aspiration system's control console is equipped with a web server and camera. It uses the WebRTC (Web Real-Time Communication) open-source framework to stream a low-latency video feed of the operator's hands, the device interface, and live fluoroscopy to a remote proctor's web browser, without requiring proprietary plugins. The proctor, using a standard browser, can communicate via two-way audio and video and can use on-screen annotation tools (e.g., drawing circles on the fluoroscopy feed) to guide the local operator. The system's state (e.g., "Vacuum Charging," "Armed," "Aspirated") is transmitted as data channel messages within the WebRTC session. This creates a highly accessible, platform-independent system for remote training and supervision of the thrombectomy procedure described in the '910 patent.
  • Diagram:

    sequenceDiagram
        participant LocalBrowser as Local Operator's Console
        participant SignalingServer as Web Server
        participant RemoteBrowser as Remote Proctor's Browser
    
        LocalBrowser->>SignalingServer: Initiate Call
        SignalingServer->>RemoteBrowser: Forward Call
        RemoteBrowser->>SignalingServer: Accept Call
        SignalingServer->>LocalBrowser: Confirm Connection
    
        Note over LocalBrowser, RemoteBrowser: STUN/TURN for NAT Traversal
    
        LocalBrowser<->RemoteBrowser: Peer-to-Peer WebRTC Connection Established
        LocalBrowser->>RemoteBrowser: Stream Video (Fluoro, Hands)
        LocalBrowser->>RemoteBrowser: Send DataChannel (System Status)
        RemoteBrowser->>LocalBrowser: Stream Audio/Video (Voice Guidance)
        RemoteBrowser->>LocalBrowser: Send DataChannel (Annotation Data)
    

• Combination 3: MQTT-Enabled Robotic Aspiration with ROS2

  • Description: The aspiration catheter is mounted on a commercially available robotic arm controlled by the Robot Operating System 2 (ROS2), an open-source robotics middleware. The pressure source and valve are controlled electronically. Communication between the robot's control system and the aspiration system uses the MQTT (Message Queuing Telemetry Transport) protocol. A physician uses a 3D interface (derived from pre-op scans) to define a target point and safe trajectory for the catheter. The ROS2 navigation stack moves the catheter to the target. Once in position, the ROS2 controller publishes a message to an MQTT topic like aspiration_system/control/start. An MQTT client on the aspiration device, subscribed to this topic, receives the message and triggers the valve to release the pre-charged vacuum. This integration enables a semi-automated, high-precision thrombectomy, where the robotic system handles the precise positioning based on the '910 patent's method, and open standards govern the communication and control.
  • Diagram:

    graph TD
        A[Physician UI] -- Target Coordinates --> B[ROS2 Navigation Stack];
        B -- Controls --> C[Robotic Arm];
        C -- Positions --> D[Aspiration Catheter];
        B -- Publishes Command --> E[MQTT Broker (Topic: 'aspiration/control')];
        F[Aspiration Control Unit] -- Subscribes to --> E;
        F -- Receives 'Start' Message --> G{Trigger Valve};
        G --> H[Apply Stored Vacuum];