Remove contents of Safe deposit box NY

Location: Kings County, NY

My relative recently passed and had a safe deposit box. I have the keys and death certificate. My parent may be a co-owner/signer on the box but is in poor health in the hospital

The bank manager said I needed a court order from surrogate court to access the box. The bank would then inventory the contents and I would submit the written inventory to court.

I found a diy "quick" Safe Deposit Box petition on the surrogate court website, but it says I can't use the form if I want to REMOVE the contents. I eventually want to remove the contents and close the box. What form or process do I need?

Relative died intestate with only personal items less than $50k.