A stone removal system comprises a sweeping structure and a dilating structure. The sweeping structure is deployed on a kidney side of a urinary stone in the ureter. Should the sweeping structure be unable to remove the kidney stone, the dilating structure is placed on the bladder side of the kidney stone and used to dilate the lumen of the ureter. The dilated lumen allows the sweeping structure to more easily remove the kidney stone. Should the kidney stone still resist removal, a lithotripsy device may be introduced through the ureter and energy directed through openings in the dilation structure to fragment the stone.