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. 2021 May 16;49(6):575–583. doi: 10.1007/s00240-021-01271-5

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© The Author(s) 2021

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Fig. 2 — Operative steps of pyelolithotomy: the renal pelvis is opened and the stone is extracted using robotic graspers (a); the ureteroscope is introduced into the renal pelvis (b) and the residual fragments are removed under vision (c); a double J stent is inserted (d); the renal pelvis is closed using interrupted stitches (e); the stone is extracted (f)