Augmented Reality and Human-Robot Collaboration Framework for Percutaneous Nephrolithotomy: System Design, Implementation, and Performance Metrics

Junling Fu, Matteo Pecorella, Elisa Iovene +5

During Percutaneous Nephrolithotomy (PCNL) operations, the surgeon is required to define the incision point on the patient's back, align the needle to a pre-planned path, and perfo…