Mila got into difficulty after falling while on a walk near Spidean Coinich, Quinag.
Assynt Mountain Rescue Team said the uninjured caver was well equipped but needed help returning to the surface.
Ardvrek Castle in Assynt is a 500-year-old former clan seat, and reputed to be haunted.
New analysis suggests ancient remains found in caves could be those of ancient polar bears.
The ancient system of caves in Assynt have been the scene of fascinating discoveries for geologists.
Highland Council says its staff are increasingly carrying out their duties in hard-to-reach places.
