Stone Access and Removal (STAR) Study

Inclusion Criteria: * Simple renal caliceal and/or pyelo stone(s) with stone burden =\> 1 cm, identified on CT scan, and appropriate for PCNL treatment according to AUA guidelines * Normal upper tract anatomy, amenable to PCNL and ureteroscopy * Participants with a percutaneous tract length \< 15 cm as measured by the estimation of the skin to stone or skin to appropriate calyx for treatment through a CT scan * Participant is an appropriate candidate for a mini-PCNL based on the clinical guidelines and investigator assessment. Exclusion Criteria: Pre-Procedure:Exclusion Criteria: * Any medical or physical condition/limitation that would contra-indicate a conventional ureteroscopy or PCNL in the supine position (e.g., atypical interposition of visceral organs (bowel, spleen, or liver)) * Expected additional procedure, or participation in any clinical trial, from 30 days prior to the study procedure and throughout the duration of the study, which might impact this study's results * A solitary functioning kidney * Female participants who are pregnant or nursing or those of child-bearing potential refusing a pregnancy test * Presence of ureteral impacted stones Intra-Procedure Exclusion Criteria: \- Any presenting condition discovered intra-procedurally that in the opinion of the investigator would make participating in this study not in the participant's best interest.