PCNL – Planning and real-time navigation
Urolithiasis, or kidney stones, is a common pathology affecting nearly 10% of the population in the USA. Percutaneous Nephrolithotomy (PCNL) is a minimally invasive urology procedure intended to remove stones from the kidney and proximal ureter which are less amiable to other endourological modalities, specifically large stones, or in the presence of abnormal anatomy. This procedure requires real-time ultrasound and/or X-ray guidance and is usually preceded with a CT scan for diagnosis. Gaining access is the first and most challenging part of the procedure. The tract needs to be created