Conclusion: Under ureter mirror barometric pressure trajectory lithotrity security.Damages slightly.The effect is obvious.

结论输尿管镜下气压弹碎石术安全,损伤小,效果确切。

Objective:To observe clinical effect and complications of treating ureterolith through aerodynamic trajectory lithotrity by ureterorenoscope(URS).

观察经输尿管肾镜行气压弹碎石治疗输尿管结石临床疗效及。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文基于测地线轨迹规划是以轨迹弧长作为参考变量，因此它还具有非时间参考机器人轨迹规划优点。

The ACR "rifles" used smoothbore barrels to fire single or multiple flechette per round, rather than bullets, to provide long range, flat trajectory, and armor piercing abilities.

炮弹（抛射物）必须拥有稳定外形，比如带尾翼箭状物或球体，以此减小射时震动。

Conclusion: Under ureter mirror barometric pressure trajectory lithotrity security.Damages slightly.The effect is obvious.

结论输尿管镜下气压弹碎石术安全,损伤小,效果确切。

Objective:To observe clinical effect and complications of treating ureterolith through aerodynamic trajectory lithotrity by ureterorenoscope(URS).

观察经输尿管肾镜行气压弹碎石治疗输尿管结石的临床疗效及并发症。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于测地线的迹规划是以迹弧长作为参考变量的，还具有非时间参考的机器人迹规划的优点。

The ACR "rifles" used smoothbore barrels to fire single or multiple flechette per round, rather than bullets, to provide long range, flat trajectory, and armor piercing abilities.

炮弹（抛射物）必须拥有稳定的外形，比如带尾翼的箭状物或球体，以减小发射时的震动。

Conclusion: Under ureter mirror barometric pressure trajectory lithotrity security.Damages slightly.The effect is obvious.

结论输镜下气压碎石术安全,损伤小,效果确切。

Objective:To observe clinical effect and complications of treating ureterolith through aerodynamic trajectory lithotrity by ureterorenoscope(URS).

观察经输镜行气压碎石治疗输结石的临床疗效及并发症。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于测地线的迹规划是以迹弧长作为参考变量的，因此它还具有非时间参考的机器人迹规划的优点。

The ACR "rifles" used smoothbore barrels to fire single or multiple flechette per round, rather than bullets, to provide long range, flat trajectory, and armor piercing abilities.

炮（抛射物）必须拥有稳定的外形，比如带尾翼的箭状物或球体，以此减小发射时的震动。

Conclusion: Under ureter mirror barometric pressure trajectory lithotrity security.Damages slightly.The effect is obvious.

结论输尿管镜气压弹碎石术安全,损伤小,效果确切。

Objective:To observe clinical effect and complications of treating ureterolith through aerodynamic trajectory lithotrity by ureterorenoscope(URS).

观察经输尿管肾镜行气压弹碎石治疗输尿管结石临床疗效及并发症。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文测地线轨迹规划是以轨迹弧长作为参考变量，因此它还具有非时间参考机器人轨迹规划优点。

The ACR "rifles" used smoothbore barrels to fire single or multiple flechette per round, rather than bullets, to provide long range, flat trajectory, and armor piercing abilities.

炮弹（抛射物）必须拥有稳定外形，比如带尾翼箭状物或球体，以此减小发射时震动。

Conclusion: Under ureter mirror barometric pressure trajectory lithotrity security.Damages slightly.The effect is obvious.

结论输尿管镜下气压弹碎石术安全,损伤小,效果确。

Objective:To observe clinical effect and complications of treating ureterolith through aerodynamic trajectory lithotrity by ureterorenoscope(URS).

经输尿管肾镜行气压弹碎石治疗输尿管结石的临床疗效及并发症。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于测地线的轨迹规划是以轨迹弧长作为参考变量的，因此它还具有非时间参考的机器人轨迹规划的优点。

The ACR "rifles" used smoothbore barrels to fire single or multiple flechette per round, rather than bullets, to provide long range, flat trajectory, and armor piercing abilities.

炮弹（抛射物）必须拥有稳定的外形，比如带尾翼的箭状物或球体，以此减小发射时的震动。

Conclusion: Under ureter mirror barometric pressure trajectory lithotrity security.Damages slightly.The effect is obvious.

结论输尿管镜气压弹碎石术安全,损伤小,效果确切。

Objective:To observe clinical effect and complications of treating ureterolith through aerodynamic trajectory lithotrity by ureterorenoscope(URS).

观察经输尿管肾镜行气压弹碎石治疗输尿管结石临床疗效及并发症。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文地线轨迹规划是以轨迹弧长作为参考变量，因此它还具有非时间参考机器人轨迹规划优点。

The ACR "rifles" used smoothbore barrels to fire single or multiple flechette per round, rather than bullets, to provide long range, flat trajectory, and armor piercing abilities.

炮弹（抛射物）必须拥有稳定外形，比如带尾翼箭状物或球体，以此减小发射时震动。

Conclusion: Under ureter mirror barometric pressure trajectory lithotrity security.Damages slightly.The effect is obvious.

结论输尿管镜下气压弹碎石术安全,损伤小,效果。

Objective:To observe clinical effect and complications of treating ureterolith through aerodynamic trajectory lithotrity by ureterorenoscope(URS).

察经输尿管肾镜行气压弹碎石治疗输尿管结石的临床疗效及并发症。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于测地线的轨迹规划是以轨迹弧长作为参考变量的，因此它还具有非时间参考的机器人轨迹规划的优点。

The ACR "rifles" used smoothbore barrels to fire single or multiple flechette per round, rather than bullets, to provide long range, flat trajectory, and armor piercing abilities.

炮弹（抛射物）必须拥有稳定的外形，比如带尾翼的箭状物或球体，以此减小发射时的震动。

Conclusion: Under ureter mirror barometric pressure trajectory lithotrity security.Damages slightly.The effect is obvious.

结论输尿管镜下气压弹碎石术安全,损伤小,效果确切。

Objective:To observe clinical effect and complications of treating ureterolith through aerodynamic trajectory lithotrity by ureterorenoscope(URS).

观察经输尿管肾镜行气压弹碎石治疗输尿管结石的临床疗效及并发症。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于测地线的轨迹规划是以轨迹为参考变量的，因此它还具有非时间参考的机器人轨迹规划的优点。

The ACR "rifles" used smoothbore barrels to fire single or multiple flechette per round, rather than bullets, to provide long range, flat trajectory, and armor piercing abilities.

炮弹（抛射物）必须拥有稳定的外形，比如带尾翼的箭状物或球体，以此减小发射时的震动。

Conclusion: Under ureter mirror barometric pressure trajectory lithotrity security.Damages slightly.The effect is obvious.

结论输尿管镜下气压弹碎石术安全,损伤小,果确切。

Objective:To observe clinical effect and complications of treating ureterolith through aerodynamic trajectory lithotrity by ureterorenoscope(URS).

观察经输尿管肾镜行气压弹碎石治疗输尿管结石临床疗发症。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文基于测地轨迹规划是以轨迹弧长作为参考变量，因此它还具有非时间参考机器人轨迹规划优点。

The ACR "rifles" used smoothbore barrels to fire single or multiple flechette per round, rather than bullets, to provide long range, flat trajectory, and armor piercing abilities.

炮弹（抛射物）必须拥有稳定外形，比如带尾翼箭状物或球体，以此减小发射时震动。

Conclusion: Under ureter mirror barometric pressure trajectory lithotrity security.Damages slightly.The effect is obvious.

结论输下气压弹碎石术安,小,效果确切。

Objective:To observe clinical effect and complications of treating ureterolith through aerodynamic trajectory lithotrity by ureterorenoscope(URS).

观察经输肾行气压弹碎石治疗输结石的临床疗效及并发症。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于测地线的轨迹规划是以轨迹弧长作为参考变量的，因此它还具有非时间参考的机器人轨迹规划的优点。

The ACR "rifles" used smoothbore barrels to fire single or multiple flechette per round, rather than bullets, to provide long range, flat trajectory, and armor piercing abilities.

炮弹（抛射物）必须拥有稳定的外形，比如带尾翼的箭状物或球体，以此减小发射时的震动。