Fig. 1

a Top view of the four artificial stones in the phantom gel. b Outside view of the phantom gel with artificial stones. c Respiration-electromotive device setup showing the phantom gel on the motorized plate submerged in water. d A respiration-electromotive device consisting of a motorized positioner in a water tank. e Stone decomposition divided into powder, 1 mm, and 2 mm by size. W0 (initial weight) is soaked in water and weighed after removing all excess water. Before weighing, fragmented stones were filtered with 2- and 1-mm sieves and dried to remove excess water. W1, W2, and Wp labeled according to size, where the particles > 2 mm are large particles W2, particles 1–2 mm are small particle W1, and fragmented stone powder is Wp. Stone fragment marked as W0; initial, W2; > 2 mm, W1; 1–2 mm, and Wp; W2 subtracted W1. f Image contrast was adjusted using commercial graphic software to mark and measure cavitation on the gel, enhancing visualization