Kidney stones are one of the most common urological diseases, which may cause severe pain during attacks and stones blocking the urinary tract may impair kidney function, therefore, kidney stone treatment should not be neglected. Large kidney stones often need to be treated surgically, and at present, minimally invasive surgery is mostly used to remove stones. There are two commonly used methods, namely, hose lithotripsy (soft ureteroscopic lithotripsy) and hard tube lithotripsy (percutaneous nephrolithotripsy). Hose lithotripsy is called ureteroscopic lithotripsy in professional terms. The procedure requires the insertion of a tube-like device that can be turned from the urethra to the kidney through the urinary tract (urethra-cyst-ureter). The device has a camera at the front end and a hollow center through which water can be injected or a lithotripsy device such as a laser can be inserted. Since the human urinary tract, especially the ureter, is relatively thin, the device required to be inserted is also relatively thin, and the hollow part is only a little more than 1mm in diameter, so soft mirror lithotripsy can usually only use laser lithotripsy, and the small debris formed after lithotripsy needs to be drained by itself for a period of time after the surgery, which may result in unclean stone drainage. In addition, a small number of people may not be able to complete the procedure because the ureter is too thin to insert a tube. Hard tube lithotripsy, professionally known as percutaneous nephrolithotripsy, is the most difficult minimally invasive lithotripsy procedure. The procedure requires a hole to be made in the lower back through which a tubular device is inserted. This tubular device usually cannot be turned and is also hollow in the middle, allowing water to be injected while the lithotripsy device is inserted to break the stone and remove it. Since the hole is artificially made, the size of the hole can be chosen according to the need. A large hole can be inserted into a coarse lithotripsy device, and some lithotripsy devices can suck out the lithotripsy pieces at the same time, significantly improving the efficiency of stone removal and eliminating the need for postoperative lithotripsy. However, this type of hole drilling procedure requires high precision and requires the surgeon to be experienced, and a distorted hole may result in severe bleeding and require secondary surgical treatment.