Percutaneous nephrolithotripsy: Percutaneous nephrolithotripsy (PNLPercutaneousNephrolithotripsy) is a minimally invasive technique that has been gradually developed and matured in recent years, which adopts ultrasound localization, puncture needles to reach the predetermined part of the kidney through skin puncture, dilation to establish a percutaneous nephrolithotripsy channel, and pneumatic ballistic, ultrasound or laser lithotripsy under the direct vision of nephrolithoscope or ureteroscopy and stone The debris will be cleaned out of the body, and the efficiency of stone crushing and extraction is high. With the advantages of small trauma, fast recovery, repeatable, etc., the therapeutic effect on complex kidney stones (multiple stones, stones larger than 2cm, staghorn-shaped stones) is significantly better than that of open surgery and extracorporeal shock wave lithotripsy. Especially with the Swiss EMS lithotripsy system, the stone debris can be sucked out of the body while lithotripsy is being performed, which greatly reduces the stone residue and improves the therapeutic effect.