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

Inclusion Criteria:

1. Serum creatinine (≤200 μmol/l);
2. American Society of Anesthesiology score of 1-3;
3. Agree to undergo PCNL with "Aircraft Nephroscope", provide written informed consent and adhere to the requirements of the trial.

Exclusion Criteria:

1. Patients with histories of renal transplant or urinary diversion;
2. patients with congenital abnormalities;
3. Pregnant patients;
4. Patients with uncorrected coagulopathy and
5. Patients with active urinary tract infections.