Systems and methods for clot retrieval in mechanical thrombectomy

A vascular therapy apparatus, comprising:

• a self-expanding stent including one or more radiopaque markers;
• a retrieval device configured to deploy the self-expanding stent in a clot and including a retrieval line attached to the self-expanding stent;
• and
• at least one electronic processor programmed to:
• receive a time sequence of images of the self-expanding stent acquired during a thrombectomy procedure in which the self-expanding stent is deployed in a clot;
• perform image analysis on the images of the time sequence of images to determine a geometric change of the self-expanding stent deployed in the clot based on a change in configuration of the one or more radiopaque markers in successive images of the time sequence of images of the self-expanding stent acquired during the thrombectomy procedure;
• identify an event occurring in the thrombectomy procedure based on the geometric change of the self-expanding stent deployed in the clot;
• and
• respond to the identification of the event by:
• outputting an indication of the event;
• and/or
• controlling a robot to perform an action in response to the event.

A vascular therapy device, comprising:

• a retrieval device configured to deploy an associated self-expanding stent in a clot and including a retrieval line attached to the associated self-expanding stent;
• a stent retrieval robot operatively connected to the retrieval line, and configured to control retrieval of the associated self-expanding stent deployed in the clot via the retrieval line;
• an X-ray imaging device configured to acquire a time sequence of images of the associated self-expanding stent acquired during a thrombectomy procedure;
• and
• at least one electronic processor programmed to:
• receive the time sequence of images of the associated self-expanding stent acquired during the thrombectomy procedure in which the self-expanding stent is deployed in a clot;
• perform image analysis on the images of the time sequence of images to determine a geometric change of the associated self-expanding stent deployed in the clot;
• identify an event occurring in the thrombectomy procedure based on the geometric change of the associated self-expanding stent deployed in the clot;
• and
• respond to the identification of the event by:
• outputting an indication of the event;
• and/or
• controlling the stent retrieval robot to perform an action in response to the event.