Ben Sainsbury

Multiobjective Trajectory Tracking of a Flexible Tool During Robotic Percutaneous Nephrolithotomy

Percutaneous Nephrolithotomy (PCNL) is the leading intervention for removing large or irregularly shaped kidney stones. It involves gaining access to the kidney through a small incision in the patient's back, through which a nephroscope is steered towards the stones. Despite decades of clinical prev