Browsing by Author "Nokleby, Scott (Nominal)"
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Robotic and haptic assistance for kidney access during percutaneous nephrolithotomy Wilz, Olivia (2021-08-01)Percutaneous nephrolithotomy (PCNL) is a minimally invasive procedure for removing kidney stones. Gaining kidney access is the most challenging task in this procedure and the cause of many complications. This thesis presents ...