The goal of this clinical trial is to introduce a novel multifunctional miniature endoscopic system, namely "Aircraft Nephroscope", for percutaneous nephrolithotomy (PCNL) to treat the patients with urolithiasis. The main questions it aims to answer are:
1. Is the "Aircraft Nephroscope" a safe and efficient instrument for PCNL?
2. What types of nephrocope the "Aircraft Nephroscope" is and what function does it have? Researchers will observe the surgical outcome through the stone-free rate and compliction rates.
Participants will:
1. Undergo PCNL with "Aircraft Nephroscope"
2. Follow-up the stone-free rate for 2 weeks after surgery