Rooted phone stuck on rebooting after attempted system update

My phone is rooted running a stock 5.1 ROM.

I just got a prompt to install a system update with a security patch, etc so I clicked to install but it gets stuck in TWRP recovery instead of installing the update.

So now every time my phone boots up it restarts trying to install that update.

EDIT: Ok, after a couple reboots the update cancelled on its own. Now I'm wondering if there's any way I can still install this update without it getting stuck in TWRP.