Application of a novel computer-assisted surgery system in percutaneous nephrolithotomy: A controlled study

Figure 1 The procedures of three-dimensional model construction by the computer-assisted surgery system. A: Different structures were segmented from different phases of CTU; B: Segmented skin, the bottom of the thoracic cavity, spine, ribs, renal arterial system, renal venous system, renal parenchyma, renal collecting system, ureters and stones were reconstructed respectively; C: In combination, reconstructed structures were registered and integrated into a fusion model; D: In modification, diaphaneity adjustment of skin, renal parenchyma and renal collecting system made it possible to observe stones.