A system for removing a kidney stone from a ureter may include: an elongate, flexible, outer shaft having a distal end configured to be advanced into the ureter and a proximal end； an elongate, flexible, inner shaft extending through at least part of the outer shaft； an expandable stone retention member extending through at least part of the inner shaft and moveable along the longitudinal axis relative to the inner shaft； an elongate, flexible camera positioned coaxially within the retention member shaft, such that a distal end of the camera is located at or near a distal end of the inner shaft； and a handle coupled with the proximal end of the outer shaft, a proximal end of the inner shaft, and a proximal end of the retention member shaft.
