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. 2021 Oct 23;40(2):585–591. doi: 10.1007/s00345-021-03863-7

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© The Author(s) 2021

Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 2 — A Software operation diagram. The 3D renal pelvis model figure was generated after importing CTU images. B Point n was set as the stone site, and Point m was set as the ureter site. C The software generates a green line (stone removal path) and gives the corresponding angle parameters, in which the n–q segment (X, Y):(− 30°, 60°), q–m segment (X, Y):(40°, 9°). D–E Sequentially inputting the above parameters on the space rotating bed