Lithotripsy device, ultrasonic probe and method for removing calculus

Abstract

The invention relates to a lithotripsy device, an ultrasonic probe and a method of removing stone. The lithotripsy device includes a longitudinal shaft extending between a proximal portion and a distal portion; a basket extending along a distal portion of the longitudinal shaft, the basket configured to capture a target stone; and a rotary driver operably coupled to the longitudinal shaft and the basket, the rotary driver actuatable to rotate the longitudinal shaft and the basket, where at least one of the longitudinal shaft and the basket is configured to vibrate in response to an acoustic energy input.

Description

Technical Field

[0001] The invention relates to a lithotripsy device, an ultrasonic probe and a method for removing stones. Background Art

[0002] Medical endoscopes are used to inspect and perform procedures inside the human body. Such endoscopes may have a distal end, for example, with an optical or imaging system, and a proximal end with a control device for device manipulation connected by a longitudinal axis. Such endoscopes may additionally include one or more channels, such as for providing other medical devices to be delivered into the human body for various procedures.

[0003] Various such devices have been developed in urology, such as various tools and methods for treating and removing stones. For example, such devices can be used to break up stones in places such as the bile duct, urinary tract, kidney, gallbladder and other places. Such stones can cause pain to the patient and may block or inhibit these various areas. Many of these stones can be removed by breaking, such as by ablation or other techniques. Some techniques may include acoustic lithotripsy, pneumatic lithotripsy, electrohydraulic lithotripsy (EHL) and laser lithotripsy. In some cases, such stones should also be displaced, such as with minimal surgical intervention. Summary of the invention

[0004] In one example, the technology described herein relates to a lithotripsy device comprising: a longitudinal shaft extending between a proximal portion and a distal portion; a basket extending along the distal portion of the longitudinal shaft, the basket configured to capture a target stone; and a rotational drive operably coupled to the longitudinal shaft and the basket, the rotational drive being actuatable to rotate the longitudinal shaft and the basket, wherein at least one of the longitudinal shaft and the basket is configured to vibrate in response to an acoustic energy input.

[0005] In one example, the technology described herein relates to an ultrasound probe comprising: a longitudinal shaft extending between a proximal portion and a distal portion; a basket extending along the distal portion of the longitudinal shaft, the basket configured to capture a target stone; a rotational drive operably coupled to the longitudinal shaft and the basket, the rotational drive actuatable to rotate the longitudinal shaft and the basket; and a transducer acoustically coupled to at least one of the longitudinal shaft or the basket, the transducer configured to generate ultrasonic excitation, wherein the basket is configured to vibrate in response to the acoustic energy input.

[0006] In an example, the technology described herein relates to a method of removing stones, the method comprising: displacing one or more stones or stone fragments using a basket, wherein the displacing comprises vibrating the basket according to an acoustic waveform; capturing one or more stones or stone fragments in the basket; and removing the basket and the one or more stones or stone fragments. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In the accompanying drawings, which are not necessarily drawn to scale, the same reference numerals may describe similar components in different views. Similar reference numerals with different letter suffixes may represent different instances of similar components. The accompanying drawings generally illustrate various embodiments discussed in this document by way of example and not limitation.

[0008] Figure 1 An example lithotripsy system including a device having an ultrasonic basket is shown.

[0009] Figure 2 A close-up view of a lithotripsy device with an ultrasonic basket is shown in an example.

[0010] Figure 3 A close-up view of a lithotripsy device with an ultrasonic basket is shown in an example.

[0011] Figure 4 A method of removing stones in an example is shown. DETAILED DESCRIPTION

[0012] The present disclosure describes, among other things, a lithotripsy device with a basket for applying rotational energy and ultrasonic energy in the crushing and collection of stones. The shaft can be used as a waveguide to transmit ultrasonic energy from a transducer to crush the stones by vibration. The basket at the distal end of the shaft can be rotated to physically collect the crushed stone fragments. The basket can also crush the stones by vibration energy. In one example, the basket itself can be made of a material that vibrates according to the waveform. In another example, a series of miniature transducers can be mounted on the basket.

[0013] Some stone masses, such as particularly hard stones or large stones in the kidney or ureter, may require a combination of techniques to resolve. For example, such stone masses may need to be displaced and broken up. This may result in the clinician having to use multiple different lithotripsy techniques to handle a stone mass in one case, such as when the patient is experiencing more challenging situations involving such hard and large stones.

[0014] Many lithotripsy devices can be used to displace, or break up, a mass of stone. For example, in theory, a basket device can be used to extract a displaced stone. Conversely, an ultrasonic device can be used to break up a larger stone. In practice, a basket device is often used as a final step, after a larger stone has been broken into smaller fragments. In this case, a basket at the end of a catheter can be pushed over a guidewire that is set in place at the location where the stone to be broken is located. Using multiple devices to achieve displacement and fragmentation can take extra time. Furthermore, this results in the surgeon having to go in and out of the patient with multiple devices, resulting in additional risks during surgery.

[0015] As discussed herein, the lithotripsy device can deliver both rotational energy and ultrasonic energy to the basket to produce vibrations. The device can be used to displace and break up stones and pull them into the basket. In one example, the ultrasonic energy can be delivered to the basket via an external transducer device connected to the shaft of the device including the basket. In another example, a local transducer located at the end of the basket can be used that vibrates at ultrasonic frequencies to displace stones at the treatment site.

[0016] Additionally, in some cases, the basket may be rotated at a nominal rotational speed to effectively displace stones at the treatment site. Rotation may be performed along the axis of the device, such as by an external rotation device, such as a motor.

[0017] The devices and methods discussed herein have several advantages. For example, the use of a single device that provides both ultrasound energy and a basket can allow for the displacement and fragmentation of stones with a single device. This can reduce the complexity of lithotripsy procedures while still addressing stones that are very tightly embedded in the kidney or ureter. The use of such a device can reduce the overall time for stone ablation and removal while requiring fewer incisions for the patient.

[0018] Figure 1 The lithotripsy system 100 is shown in an example including a device 105 having an ultrasonic basket 130. The device 105 can be, for example, an ultrasonic probe having the basket 130. The device 105 can include a shaft 110 having a proximal portion 102 and a distal portion 104. The shaft 110 can extend from a handle portion 112 toward the basket 130. The handle portion 112 can include a handle 114, a basket opening mechanism 116, and a rotation mechanism 118. Figure 1 In the example of FIG. 1 , the transducer 120 may be located on the proximal portion 102 of the shaft 110 .

[0019] The lithotripsy system 100 can allow for efficient stone displacement and removal. In some cases, the device 105 can allow for the displacement and removal of stones without excessive fiber dust and debris. In some cases, when ultrasonic methods are used to fragment stones, the device 105 can help control the dust removal area. For example, when ultrasonic (or other acoustic) energy is used to fragment stones, the device 105 can help collect stone fragments in the basket 130.

[0020] The device 105 can be an elongated probe shaped and sized to be inserted into a patient, for example, for lithotripsy. The device 105 can be used, for example, with an endoscope. The device 105 can be coupled to a controller 150 and a transducer 120, which can provide acoustic energy to the device 105 for stone fragmentation. At least one of the shaft 110 and the basket 130 can be configured to vibrate in response to the acoustic energy input.

[0021] The shaft 110 can be a longitudinal shaft extending between the proximal portion 102 and the distal portion 104. The shaft 110 can be a waveguide along which acoustic energy from the transducer 120 can propagate. The shaft 110 can have an attachment point to the transducer 120. The distal portion 104 of the shaft 110 can be inserted into a patient's body to contact a target (such as a stone) to allow the device 105 to fragment the target using acoustic waves. In one example, the longitudinal shaft 110 can be nitinol or titanium, or other suitable materials that can be used as a waveguide.

[0022] The handle portion 112 may extend proximally from the shaft 110. The handle portion 112 may facilitate a user to hold and operate the device 105. The handle portion 112 may optionally include user controls, such as a basket opening mechanism 116 and a rotation mechanism 118, and other optional controls. The shaft 110 may extend proximally forward from the handle portion 112, such as in a cantilevered manner. The handle portion 112 may allow for easy placement of the device 105. The handle portion 112 may allow an operator to actuate the rotation mechanism 118 to rotate the basket 130 and the shaft 110, and allow an operator to actuate the transducer 120 to provide vibrational energy to the shaft 110, the basket 130, or both. The handle portion 112 may allow for efficient retrieval of stones and stone fragments.

[0023] The handle 114 can be on or integral with the handle portion 112. The handle 114 can be sized and shaped to fit the operator's hand. The handle 114 can optionally include texture or shape to help the operator hold the device 105. The basket opening mechanism 116 can be positioned so that the operator can reach the basket opening mechanism 116 while holding the device 105. The basket opening mechanism 116 can be, for example, a lever, a button, or other suitable mechanism to help open and close the basket 130. The basket opening mechanism 116 can be operably coupled to the basket 130 along the length of the shaft 110.

[0024] The rotation mechanism 118 can be located on or near the handle portion 112, such as at the proximal portion 102 of the shaft 110. The rotation mechanism 118 can be, for example, a rotational drive operably coupled to the shaft and the basket. The rotation mechanism 118 can be actuatable for rotating the shaft 110 and the basket 130. In an example, the rotation mechanism 118 can be manual, such as a rotating wheel. In another example, the rotation mechanism 118 can be automatic. For example, a rotary motor can be used for the rotation mechanism 118. In an example, a smaller RPM drive can be used, such as actuatable with a button or trigger.

[0025] The transducer 120 can be an acoustic transducer acoustically coupled to the shaft 110, the basket 130, or both. In an example, the acoustic transducer can be configured to propagate a waveform of about 20 kHz to about 150 kHz along the shaft 110. The transducer 120 can be operably connected to a sound generator that can be actuated to generate an acoustic waveform. The shaft 110 can be configured to be moved or vibrated by the transducer 120.

[0026] For example, the transducer 120 may be an ultrasonic transducer that converts electrical energy into mechanical waves through the piezoelectric effect. The transducer 120 may include one or more piezoelectric members, such as a stack. Here, the piezoelectric member may be configured to receive a drive signal via the controller 150 to actuate the transducer 120. The piezoelectric effect may increase the mechanical length of the transducer 120 in response to a voltage such as provided by a generator to the transducer 120. The change in length of the transducer 120 may be proportional to one or more variables, including but not limited to the voltage level and the frequency of the signal applied to the transducer 120. When the electrical frequency applied to the transducer is equal to the time for the mechanical wave to pass through the crystal and return, optimal energy conversion may occur due to resonance, and may produce a mechanical displacement many times greater than at any other frequency. In some cases, the transducer 120 can be used to generate a variety of different waveforms, such as providing harmonic drive opportunities, driving the transducer 120 at different frequencies, thereby affecting the displacement of the waveguide.

[0027] The transducer 120 can be used to propagate various waveforms along the shaft 110 and / or toward the basket 130. For example, a sinusoidal waveform or a generally square waveform can be used. Such waveforms propagated along the device 105 can induce a vibratory motion at the distal portion 104 of the shaft 110, such as at the basket 130. The vibratory motion can help dislodge stones, break up stones, or both.

[0028] The basket 130 may extend along the distal portion 104 of the shaft 110. The basket 130 may be sized and shaped to facilitate capturing stones, stone fragments, or both therein. In one example, the basket 130 may include a bullet-shaped tip or a wire guide design. The basket 130 may include an end piece 125 at the proximal end of the basket 130, such as Figure 2 and Figure 3 The end piece 125 may be located where the prongs of the basket 130 converge.

[0029] The basket 130 can be configured to rotate with the rotational motion of the rotation mechanism 118. When the rotation mechanism 118 is actuated, the basket 130 itself can rotate with the shaft 110. This can help displace the collection of stones and stone fragments. For example, the basket 130 can rotate proximally of the end piece 125.

[0030] Basket 130 can be configured to vibrate with the acoustic waveform generated by transducer 120. For example, basket 130 itself can be acoustically transparent. In one example, basket 130 can be made of nitinol, titanium, or other suitable acoustically transparent material. In some cases, end piece 125 can be configured to vibrate according to the waveform. In some cases, the transducer can be located on basket 130 itself to provide vibrational energy to the basket.

[0031] The controller 150 may be used to actuate and control the lithotripsy system 100. The controller may include a driver or control the driver to send a drive signal to the transducer 120. In an example, the controller 150 may be integrated with a generator for providing voltage to the transducer 120 and generating a waveform.

[0032] The controller 150 may include a processor (which may be referred to as a central processor unit or CPU) that communicates with storage devices including secondary storage, read-only memory (ROM), random access memory (RAM), input / output (I / O) devices, and network connection devices as needed. The processor may be implemented as one or more CPU chips, or may be part of one or more application specific integrated circuits (ASICs).

[0033] The apparatus described herein may be configured to include a computer-readable non-transitory medium storing computer-readable instructions and one or more processors coupled to the memory, and when the computer-readable instructions are executed, the controller is configured to perform the method steps and operations described above with reference to the above figures. Computer-readable non-transitory media include all types of computer-readable media, including magnetic storage media, optical storage media, flash memory media, and solid-state storage media.

[0034] Figure 2 and Figure 3 A close up view of a device 105 is shown having different mechanisms for vibrating at a target site to remove stones. Figure 2 A close-up view of a lithotripsy device 105 is shown with a basket 130 having a plurality of transducers 121 in an example. Here, the shaft 110 with the basket 130 and the end piece 125 can rotate when the rotation mechanism 118 is actuated. Figure 2As shown, a plurality of transducers 121 may be located on and in the basket 130. The transducers 121 may be actuatable to vibrate and help displace or break up the stones.

[0035] The basket 130 with the transducer 121 can be positioned by the operator at a target surgical site, such as near one or more stones of interest. The rotation of the basket 130 can be used to displace and / or fragment the stones. The vibration of the transducer 121 can also be used to displace and / or fragment the stones according to a specific energy provided to the transducer 121. The transducer 121 can vibrate according to energy, such as an acoustic waveform provided to the transducer 121 along the axis 110, such as from a generator. Displaced stones and fragments can fall into and be collected within the basket 130, such as when the basket 130 is rotated by the rotation mechanism 118. The vibration of the transducer 121 can be, for example, ultrasonic vibrations in the range of about 20 kHz to about 150 kHz.

[0036] Figure 3 A close-up view of a lithotripsy device 105 with a basket 130 is shown in an example. In this case, the basket 130 may be made of a material such as titanium or nitinol, which may vibrate in response to acoustic energy provided by the transducer 120. The shaft 110 and the basket 130 may rotate, such as by actuation of the rotation mechanism 118. Additionally, when the transducer 120 provides a waveform along the shaft 110, both the shaft 110 and the basket 130 themselves may vibrate accordingly.

[0037] The basket 130 itself can move in response to the sonic waveform. In some cases, the waveform can propagate through the end piece 125, causing the entire basket 130 to vibrate and aid in removing the stone. Figure 2 and Figure 3 In either case, localized acoustic energy can be used to help break up and remove the stone.

[0038] Figure 4 A method 400 of removing stones in an example is shown. At step 410, an operator may displace one or more stones or stone fragments using a basket. Displacing may include vibrating the basket according to an acoustic waveform. Vibrating the basket may include actuating one or more acoustic transducers on the basket. In some cases, this step may also include fragmenting one or more stones or stone fragments.

[0039] At step 420, the operator may capture one or more stones or stone fragments in the basket, such as by a rotational motion. At step 430, the basket with the one or more stones or stone fragments may be removed from the patient.

[0040] Various notes and examples

[0041] In some aspects, the technology described herein relates to a lithotripsy device comprising: a longitudinal shaft extending between a proximal portion and a distal portion; a basket extending along the distal portion of the longitudinal shaft, the basket configured to capture a target stone; and a rotational drive operably coupled to the longitudinal shaft and the basket, the rotational drive being actuatable to rotate the longitudinal shaft and the basket, wherein at least one of the longitudinal shaft and the basket is configured to vibrate in response to an acoustic energy input.

[0042] In some aspects, the technology described herein relates to a lithotripsy device that also includes at least one acoustic transducer acoustically coupled to at least one of the longitudinal shaft or the basket.

[0043] In some aspects, the technology described herein relates to a lithotripsy device that also includes an acoustic generator operably coupled to the acoustic transducer, the acoustic generator actuatable to generate an acoustic waveform.

[0044] In some aspects, the technology described herein relates to a lithotripsy device wherein the basket is acoustically transparent.

[0045] In some aspects, the technology described herein relates to a lithotripsy device wherein the basket comprises nitinol or titanium.

[0046] In some aspects, the technology described herein relates to a lithotripsy device wherein a plurality of acoustic transducers are included on the basket.

[0047] In some aspects, the technology described herein relates to a lithotripsy device wherein the acoustic transducer is configured to propagate a waveform of about 20 kHz to about 150 kHz along a longitudinal axis.

[0048] In some aspects, the technology described herein relates to a lithotripsy device wherein the longitudinal shaft comprises nitinol or titanium.

[0049] In some aspects, the technology described herein relates to lithotripsy devices in which the rotational drive is manual.

[0050] In some aspects, the technology described herein relates to a lithotripsy device in which the rotational drive is automated.

[0051] In some aspects, the technology described herein relates to a lithotripsy device wherein a basket includes a proximal end configured to vibrate according to a waveform.

[0052] In some aspects, the technology described herein relates to a lithotripsy device in which a basket is configured to vibrate with a waveform.

[0053] In some aspects, the technology described herein relates to a lithotripsy device wherein a longitudinal shaft is configured to vibrate with a waveform.

[0054] In some aspects, the technology described herein relates to an ultrasound probe comprising: a longitudinal shaft extending between a proximal portion and a distal portion; a basket extending along the distal portion of the longitudinal shaft, the basket configured to capture a target stone; a rotational drive operably coupled to the longitudinal shaft and the basket, the rotational drive actuatable to rotate the longitudinal shaft and the basket; and a transducer acoustically coupled to at least one of the longitudinal shaft or the basket, the transducer configured to generate an ultrasonic waveform, wherein the basket is configured to vibrate in response to an acoustic energy input.

[0055] In some aspects, the technology described herein involves a probe in which the transducer is located on a longitudinal axis.

[0056] In some aspects, the technology described herein relates to a probe in which a longitudinal shaft is configured to vibrate with a waveform.

[0057] In some aspects, the technology described herein relates to a probe wherein the transducer includes a plurality of transducers positioned on a basket.

[0058] In some aspects, the technology described herein relates to a method of removing stones, the method comprising: displacing one or more stones or stone fragments using a basket, wherein the displacing comprises vibrating the basket according to an acoustic waveform; capturing one or more stones or stone fragments in the basket; and removing the basket with the one or more stones or stone fragments.

[0059] In some aspects, the technology described herein relates to a method that also includes fragmenting one or more stones or stone fragments.

[0060] In some aspects, technology described herein relates to a method in which vibrating a basket includes actuating one or more acoustic transducers located on the basket.

[0061] Each of these non-limiting examples may stand alone or may be combined with one or more of the other examples in various permutations or combinations.

[0062] The above detailed description includes reference to the accompanying drawings, which form a part of the detailed description. The accompanying drawings illustrate specific embodiments that can be put into practice in a diagrammatic manner. These embodiments are also referred to as "examples" in this article. These examples may include elements other than those shown or described. However, the inventors have also contemplated examples in which only those elements shown or described are provided. In addition, the inventors have also contemplated examples of any combination or arrangement of those elements (or one or more aspects thereof) shown or described relative to a specific example (or one or more aspects thereof) or relative to other examples (or one or more aspects thereof) shown or described herein.

[0063] In the event of an inconsistency in usage between this document and any document incorporated by reference, the usage in this document applies.

[0064] In this document, as is common in patent documents, the term "a" includes one or more than one, independent of any other examples or usages of "at least one" or "one or more". In this document, the term "or" is used to refer to non-exclusive or such a situation that "A or B" includes "A but not B", "B but not A", and "A and B", unless otherwise stated. In this document, the terms "including" and "wherein" are used as the plain English equivalents of the respective terms "including" and "wherein". In addition, in the following claims, the terms "including" and "comprising" are open-ended, that is, systems, devices, articles, compositions, formulas, or processes that include elements other than those listed after the above terms in the claim are still considered to fall within the scope of the claim. In addition, in the following claims, the terms "first", "second", and "third", etc. are used only as labels and are not intended to impose labeling requirements on their objects.

[0065] The method examples described herein may be implemented at least in part by a machine or computer. Some examples may include a computer-readable medium or a machine-readable medium encoded with instructions, which may be operable to configure an electronic device to perform the method described in the above example. The implementation of this method may include code, such as microcode, assembly language code, higher-level language code, etc. Such code may include computer-readable instructions for performing various methods. The code may form a part of a computer surgery product. In addition, in an example, the code may be tangibly stored on one or more volatile, non-temporary or non-volatile tangible computer-readable media, such as during execution or at other times. Examples of these tangible computer-readable media may include, but are not limited to, hard disks, removable disks, removable optical disks (e.g., optical disks and digital video disks), tapes, memory cards or memory sticks, random access memories (RAM), read-only memories (ROM), etc.

[0066] The above description is intended to be illustrative, not restrictive. For example, the above examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments may be used, such as by a person of ordinary skill in the art when reviewing the above description. The abstract is provided to enable the reader to quickly determine the nature of the technical disclosure. It should be understood that this document is not used to interpret or limit the scope or meaning of the claims. In addition, in the above detailed description, various features may be grouped together to simplify the present disclosure. This should not be interpreted as an intention to make the disclosed features that are not claimed essential to any claim. On the contrary, the subject matter of the present invention may be less than all the features of a particular disclosed embodiment. Therefore, the following claims are incorporated into the detailed description as examples or embodiments, each claim being independently a separate embodiment, and it is conceivable that these embodiments may be combined with each other in various combinations or arrangements. The scope of the present invention should be determined with reference to the appended claims and the full scope of equivalents given by these claims.

Claims

1. A lithotripsy device, comprising: a longitudinal axis extending between the proximal portion and the distal portion; a basket extending along the distal portion of the longitudinal axis, the basket configured to capture a target stone; as well as a rotational drive operably coupled to the longitudinal shaft and the basket, the rotational drive actuatable to rotate the longitudinal shaft and the basket, Wherein at least one of the longitudinal shaft and the basket is configured to vibrate in response to acoustic energy input.

2. The lithotripsy device of claim 1, further comprising at least one acoustic transducer acoustically coupled to at least one of the longitudinal shaft or the basket.

3. The lithotripsy device of claim 2, further comprising an acoustic generator operably coupled to the acoustic transducer, the acoustic generator actuatable to generate an acoustic waveform.

4. The lithotripsy device according to claim 1, wherein: The basket is acoustically transparent.

5. The lithotripsy device according to claim 1, wherein: The basket comprises nitinol or titanium.

6. The lithotripsy device according to claim 1, wherein: A plurality of acoustic transducers are included on the basket.

7. The lithotripsy device according to claim 2, wherein: The acoustic transducer is configured to propagate a waveform between about 20 kHz and about 150 kHz along the longitudinal axis.

8. The lithotripsy device according to claim 1, wherein: The longitudinal shaft comprises nitinol or titanium.

9. The lithotripsy device according to claim 1, wherein: The rotary drive is manual.

10. The lithotripsy device according to claim 1, wherein: The rotary drive is automatic.

11. The lithotripsy device according to claim 1, wherein: The basket includes a proximal end configured to vibrate according to a waveform.

12. The lithotripsy device according to claim 1, wherein: The basket is configured to vibrate with a waveform.

13. The lithotripsy device according to claim 1, wherein: The longitudinal shaft is configured to vibrate with a waveform.

14. An ultrasonic probe, comprising: a longitudinal axis extending between the proximal portion and the distal portion; a basket extending along the distal portion of the longitudinal axis, the basket configured to capture a target stone; a rotational drive operably coupled to the longitudinal shaft and the basket, the rotational drive actuatable to rotate the longitudinal shaft and the basket; as well as a transducer acoustically coupled to at least one of the longitudinal shaft or the basket, the transducer configured to generate an ultrasonic waveform, Wherein the basket is configured to vibrate in response to acoustic energy input.

15. The ultrasound probe according to claim 14, wherein: The transducer is located on the longitudinal axis.

16. The ultrasound probe according to claim 14, wherein: The longitudinal axis is configured to vibrate with the waveform.

17. The ultrasound probe according to claim 14, wherein: The transducer includes a plurality of transducers located on the basket.

18. A method for removing stones, the method comprising the following steps: displacing one or more stones or stone fragments using a basket, wherein the step of displacing comprises vibrating the basket in accordance with an acoustic waveform; capturing the one or more stones or stone fragments in the basket; and The basket with the one or more stones or stone fragments is removed.

19. The method according to claim 18, further comprising the steps of: The one or more stones or stone fragments are fragmented.

20. The method according to claim 18, wherein: Vibrating the basket includes actuating one or more acoustic transducers located on the basket.

Images