Object capture with a basket
A method for capturing an object in a cavity in a patient is described. The method includes advancing a ureteroscope into the cavity containing the object. A basket is advanced through a working channel of the ureteroscope. The basket is opened within the cavity and is positioned so as to enclose the object. Then, two actions are performed simultaneously. The basket is collapsed while simultaneously the basket tool is advanced forward so that the object remains within the basket, ideally near the center of the basket, as the basket closes around the object. Once the object is captured, the basket is retracted to remove the object out of the cavity. Further, this process may be automated by having the method carried out by robotic arms acting in tandem, with one or more robotic arms advancing the basket tool or ureteroscope, and another robotic arm collapsing the basket.
1. A method for capturing an object in a cavity comprising:
controlling a first robotic arm of a robotic system to advance an endoscope into the cavity comprising the object, the first robotic arm being coupled to the endoscope;
controlling a second robotic arm of the robotic system to advance a basket tool through a working channel of the endoscope to position a basket of the basket tool within the cavity, the basket being associated with a distal end of the basket tool, the second robotic arm being configured to control the basket tool;
controlling the second robotic arm to expand the basket to an at least partially expanded state;
positioning a central portion of the basket in the at least partially expanded state at a first position to enclose the object;
controlling at least one of the first robotic arm or the second robotic arm to collapse the basket while maintaining the central portion of the basket at the first position; and
upon the basket, retracting the basket tool into a sheath associated with the endoscope.
2. The method of claim 1 wherein controlling at least one of the first robotic arm or the second robotic arm to collapse the basket while maintaining the central portion of the basket at the first position comprises:
advancing the endoscope further into the cavity.
3. The method of claim 1 wherein controlling at least one of the first robotic arm or the second robotic arm to collapse the basket while maintaining the central portion of the basket at the first position comprises:
actuating capstans to spool pull wires thereby decreasing the size of the basket within the cavity.
4. The method of claim 1 wherein controlling the first robotic arm of the robotic system to advance the endoscope into the cavity comprising the object comprises:
controlling motion of at least one of the sheath or a leader of the endo scope.
5. The method of claim 4 wherein controlling the second robotic arm of the robotic system to advance the basket tool through the working channel of the endoscope to position the basket of the basket tool within the cavity comprises:
controlling motion of the basket tool along a long axis of the basket tool and endoscope.
6. The method of claim 4 wherein positioning the central portion of the basket in the at least partially expanded state at the first position to enclose the object comprises:
actuating at least one of a tool base or the second robotic arm to control motion of the basket tool along a long axis of the basket tool and endoscope.
7. The method of claim 6 wherein controlling at least one of the first robotic arm or the second robotic arm to collapse the basket while maintaining the central portion of the basket at the first position comprises:
moving at least one of the leader or the basket tool.
8. The method of claim 6 wherein controlling at least one of the first robotic arm or the second robotic arm to collapse the basket while maintaining the central portion of the basket at the first position comprises:
moving at least one of the sheath or leader relative to each other.
9. The method of claim 1 wherein controlling the first robotic arm of the robotic system to advance the endoscope into the cavity comprising the object comprises:
actuating an instrument base coupled to the endoscope.
10. The method of claim 9 wherein controlling the second robotic arm of the robotic system to advance the basket tool through the working channel of the endoscope to position the basket of the basket tool within the cavity comprises:
actuating a tool base coupled to the basket tool, wherein the second robotic arm is configured to control motion of the basket tool along a long axis of the basket tool and the endoscope.
11. The method of claim 9 wherein positioning the central portion of the basket in the at least partially expanded state at the first position to enclose the object comprises:
actuating a tool base coupled to the basket tool, wherein the second robotic arm is configured to control motion of the basket tool along a long axis of the basket tool and the endoscope.
12. The method of claim 11 wherein controlling at least one of the first robotic arm or the second robotic arm to collapse the basket while maintaining the central portion of the basket at the first position comprises:
actuating at least one of the tool base or the second robotic arm to retract the basket tool into the endoscope; and
actuating at least one of the instrument base or the first robotic arm to move the endoscope further into the cavity.
13. The method of claim 11 wherein controlling at least one of the first robotic arm or the second robotic arm to collapse the basket while maintaining the central portion of the basket at the first position comprises:
actuating at least one of the tool base, the instrument base, the first robotic arm or the second robotic arm to move the basket tool and the endoscope in opposite directions relative to each other.
14. The method of claim 1 ,
wherein the endoscope comprises a sheath component coupled to the first robotic arm, and a leaderscope coupled to the second robotic arm.
15. The method of claim 14 wherein controlling the second robotic arm of the robotic system to advance the basket tool through the working channel of the endoscope to position the basket of the basket tool within the cavity comprises:
controlling motion of the basket tool along a long axis of the basket tool and the endoscope.
16. The method of claim 14 wherein positioning the central portion of the basket in the at least partially expanded state at the first position to enclose the object comprises:
actuating a tool base coupled to the basket tool.
17. The method of claim 16 wherein controlling at least one of the first robotic arm or the second robotic arm to collapse the basket while maintaining the central portion of the basket at the first position comprises:
actuating the tool base to retract the basket tool into the endoscope; and
actuating at least one of the first robotic arm or the second robotic arm to move the endoscope further into the cavity.
18. The method of claim 16 wherein controlling at least one of the first robotic arm or the second robotic arm to collapse the basket while maintaining the central portion of the basket at the first position comprises:
actuating at least one of the tool base, the first robotic arm, or the second robotic arm to move the basket tool and the endoscope in opposite directions relative to each other.
19. The method of claim 1 further comprising:
passing an optical fiber or a laser through the working channel of the basket tool; and
activating the optical fiber or laser to perform lithotripsy on the object to break the object apart.
20. The method of claim 1 further comprising:
passing a mechanical drill through the working channel of the basket tool; and
activating the mechanical drill in contact with the object to break the object apart.
21. The method of claim 1 further comprising:
passing a chisel through the working channel of the basket tool; and
activating the chisel in contact with the object to break the object apart.
22. The method of claim 1 further comprising:
passing fluid through the working channel of the basket tool towards the object to break the object apart.
23. 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.
24. The method of claim 1 wherein the cavity is a kidney of a patient or a calyx within the kidney of the patient.
25. The method of claim 1 wherein the endoscope is a ureteroscope.
26. A system comprising:
an endoscope including a working channel;
a first robotic arm configured to couple to the endoscope and configured to advance the endoscope into a cavity including an object; and
a second robotic arm configured to:
advance a basket tool through the working channel of the endoscope to position a basket of the basket tool within a cavity, the basket being associated with a distal end of the basket tool; and
expand the basket to an at least partially open state;
wherein at least one of the first robotic arm or the second robotic arm is configured to:
position a central portion of the basket at a first position to enclose the object;
collapse the basket while maintaining the central portion of the basket at the first position; and
upon collapsing the basket, retract the basket tool into a sheath to remove the object from the cavity.