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201295 https://hdl.handle.net/2286/R.2.N.201295 http://rightsstatements.org/vocab/InC/1.0/ All Rights Reserved 2025 2027-05-01T17:45:09 59 pages Masters Thesis Academic theses en Arora, Deepit Marvi, Hamidreza Redkar, Sangram Aukes, Daniel Arizona State University Partial requirement for: M.S., Arizona State University, 2025 Field of study: Engineering Mechanical thrombectomy has become a frontline treatment for clot-related blockages in blood vessels, yet current techniques are constrained by risks of vascular damage, incomplete clot retrieval, and limited adaptability to complex anatomies. This thesis presents a novel approach to minimally invasive thrombectomy using modular magnetic miniature robots. The system integrates internal soft-bodied, magnetic devices with a programmable external magnetic control platform, enabling complete clot extraction. Soft expandable sections were developed and evaluated as the primary retrieval mechanism. A helical clot breaker design was also explored as an alternative concept to facilitate clot penetration through a self-rotating mechanism.The soft modular segments form dynamic barriers that capture and extract the clot. Devices were fabricated using silicone rubber and 3D-printed molds, with internal magnet configurations optimized for both mobility and force transmission. A custom testbed simulating vascular geometries was constructed to assess device performance using synthetic blood clots. Results demonstrated successful clot retrieval. Despite limitations in manufacturing and magnet alignment, the proposed approach offers a promising pathway toward safer, more adaptable robotic thrombectomy solutions. Future work will focus on refining magnetic configurations, integrating imaging for real-time tracking and automation, and validating the system in anatomically accurate vascular phantoms. Robotics soft robotics Thrombectomy Minimally Invasive Thrombectomy Via Modular Magnetic Miniature (M3) Robots