Basket apparatus

Abstract

A basket apparatus is described that assists in removing objects from within a patient. The apparatus includes a number of pull wires, each pull wire physically coupled to a different capstan that individually actuates one of the pull wires. The apparatus also includes an outer support shaft itself including a number of channels through which the pull wires traverse. The portions of the pull wires extending out of the outer support shaft form a basket of adjustable size, shape, and position. The pull wires are attached together at a tip located at a distal end of the basket apparatus. By controlling the actuation of the various pull wires, the basket's shape, position size can be manipulated to reposition the basket around an object located within a patient, independent of or in conjunction with motion of the remainder of the apparatus or an associated endoscope.

1 . A method for capturing an object in a cavity comprising:
 advancing an endoscope into the cavity comprising the object;   advancing a basket apparatus through a working channel of the endoscope;   opening a basket of the basket apparatus within the cavity, the basket controlled by a plurality of pull wires;   selectively retracting or releasing the pull wires to position the basket to surround the object;   collapsing the basket around the object; and   retracting the basket holding the object out of the cavity.   
     
     
         2 . The method of  claim 1 :
 wherein pairs of the pull wires are attached together, and   wherein selectively retracting or releasing the pull wires comprises:
 retracting a first one of the pull wires of a first of the pairs and releasing a second of the pull wires of the first pair to reposition the basket so that a distal tip of the basket is directed away from the object. 
   
     
     
         3 . The method of  claim 2  wherein selectively retracting or releasing the pull wires further comprises:
 retracting a third one of the pull wires of a second of the pairs and releasing a fourth of the pull wires of the second pair to reposition the basket so that a distal tip of the basket is directed away from the object. 
 
     
     
         4 . The method of  claim 2  further comprising:
 moving at least one of the basket, the basket apparatus, and the endoscope so that the object is located between either end of the basket. 
 
     
     
         5 . The method of  claim 4  further comprising:
 retracting the second pull wire of the first pair and releasing the first pull wire of the first pair to reposition the basket so that the object is located within the basket. 
 
     
     
         6 . The method of  claim 5  wherein selectively retracting or releasing the pull wires comprises:
 actuating a tool base coupled to a first robotic arm controlling the pull wires. 
 
     
     
         7 . The method of  claim 6  wherein moving the endoscope comprises:
 actuating an instrument base coupled to a second robotic arm at least partially controlling motion of the endoscope. 
 
     
     
         8 . The method of  claim 1  further comprising at least one:
 passing an optical fiber or a laser through a working channel of the basket apparatus and activating the optical fiber or laser perform lithotripsy on the object to break it apart; 
 passing a mechanical drill through a working channel of the basket apparatus, and 
 activating the drill in contact with the object to break it apart; 
 passing a chisel through a working channel of the basket apparatus, and activating the chisel in contact with the object to break it apart; and 
 passing fluid through a working channel of the basket apparatus towards the object to break it apart. 
 
     
     
         9 . The method of  claim 1 ,
 wherein the object is at least one from the group consisting of: a kidney stone or a bladder stone, a stone formed from at least one of calcium, magnesium, ammonia, uric acid, and cysteine;   wherein the cavity is a kidney of a patient or a calyx within the kidney of the patient.   
     
     
         10 . A method for capturing an object in a cavity comprising:
 advancing an endoscope into the cavity comprising the object;   advancing a basket apparatus through a working channel of the endoscope;   opening a basket of the basket apparatus within the cavity, the basket controlled by one or more tendons;   actuating the one or more tendons to position the basket to surround the object;   collapsing the basket around the object; and   advancing the basket to maintain a center position of the basket.   
     
     
         11 . The method of  claim 10  wherein the basket is collapsed and advanced simultaneously. 
     
     
         12 . The method of  claim 10  wherein advancing the basket involves advancing the endoscope. 
     
     
         13 . The method of  claim 12  wherein advancing the basket involves advancing a tool base coupled to the endoscope. 
     
     
         14 . The method of  claim 10  further comprising actuating the one or more tendons to position the object at the center position of the basket. 
     
     
         15 . The method of  claim 10 :
 wherein pairs of the one or more tendons are attached together, and   wherein selectively retracting or releasing the one or more tendons involves retracting a first tendon of the one or more tendons of a first pair of the pairs and releasing a second tendon of the one or more tendons of the first pair to reposition the basket so that a distal tip of the basket is directed away from the object.   
     
     
         16 . The method of  claim 15  wherein selectively retracting or releasing the one or more tendons further comprises retracting a third tendon of the one or more tendons of a second pair of the pairs and releasing a fourth tendon of the one or more tendons of the second pair to reposition the basket so that a distal tip of the basket is directed away from the object. 
     
     
         17 . The method of  claim 10  further comprising retracting the basket holding the object out of the cavity. 
     
     
         18 . A method for capturing an object in a cavity comprising:
 advancing an endoscope into the cavity comprising the object;   advancing a basket apparatus through a working channel of the endoscope, the basket apparatus including a robotically controlled basket;   opening the robotically controlled basket of the basket apparatus within the cavity, the robotically controlled basket controlled by one or more tendons;   selectively retracting or advancing the robotically controlled basket to position the object at a center position of the robotically controlled basket;   collapsing the robotically controlled basket around the object;   advancing the robotically controlled basket to maintain a center position of the robotically controlled basket; and   retracting the robotically controlled basket holding the object out of the cavity.   
     
     
         19 . The method of  claim 18  wherein the robotically controlled basket is collapsed and advanced simultaneously. 
     
     
         20 . The method of  claim 18 :
 wherein pairs of the one or more tendons are attached together, and   wherein selectively retracting or releasing the one or more tendons involves retracting a first tendon of the one or more tendons of a first pair of the pairs and releasing a second tendon of the one or more tendons of the first pair to reposition the robotically controlled basket so that a distal tip of the robotically controlled basket is directed away from the object.