During percutaneous nephrolithotomy (PCNL) operations, the surgeon is required to define the incision point on the patient’s back, align the needle to a preplanned path, and perform puncture operations afterward. The procedure is currently performed manually using ultrasound or fluoroscopy imaging for needle orientation, which, however, implies limited accuracy and low reproducibility. This work incorporates augmented reality (AR) visualization with an optical see-through head-mounted display (OST-HMD) and human–robot collaboration (HRC) framework to empower the surgeon’s task completion performance. In detail, eye-to-hand calibration, system registration, and hologram model registration are performed to realize visual guidance.
