Endoscopy is a minimally invasive examination method. Common urological endoscopes in clinical practice include: 1. cystoscopy: mainly used to observe the morphology and internal structure of the bladder; 2. ureteroscopy: including two types of soft ureteroscopes and hard ureteroscopes, mainly used to treat ureteral stones and kidney stones; 3. percutaneous nephroscopy: microchannel percutaneous nephropuncture, mainly used to treat ureteral stones and kidney stones; 4. prostate electroscopy; 5. vesiculoscopy; 6. scrotoscopy.