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 … [Read more...] about Augmented Reality and Human–Robot Collaboration Framework for Percutaneous Nephrolithotomy: System Design, Implementation, and Performance Metrics
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