Fig. 3

The intraoperative placement diagram of a slave unit in patient side and the establishment of three percutaneous renal accesses with continuous negative-pressure suction. (A) a slave unit of robot-assisted teleultrasound diagnostic system (RTDS) is placed on the opposite side of operative region and the homing point of robotic arm is located directly above the pre-formulated puncture site; (B) an intraoperative photo of three accesses established for an enrolled complex kidney-stone (CKS) patient, Case 5; (b) the preoperative plain kidney-ureter-bladder (KUB) film showed a partial staghorn stone with multiple stones in lower calices, assessed as Guy’s Stone Scores (GSS) grade III. Unclear high-density shadows of stones are denoted by black arrows in the plain KUB film. S = stone