The goal of this clinical trial is to introduce a novel multifunctional miniature endoscopic system, namely "Aircraft Nephroscope", for percutaneous nephrolithotomy (PCNL) to treat the patients with urolithiasis. The main questions it aims to answer are: 1. Is the "Aircraft Nephroscope" a safe and efficient instrument for PCNL? 2. What types of nephrocope the "Aircraft Nephroscope" is and what function does it have? Researchers will observe the surgical outcome through the stone-free rate and compliction rates. Participants will: 1. Undergo PCNL with "Aircraft Nephroscope" 2. Follow-up the stone-free rate for 2 weeks after surgery
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Stone-free rate
Timeframe: From enrollment to the end of treatment at 2 weeks