Inclusion Criteria:  Any male or female age from 18 to 80 BMI 18-30kg/m2 Have urological surgery indications (cystectomy, prostatectomy, and nephrectomy) Patients with physiologic conditions capable of receiving laparoscopic surgery Be able to cooperate and complete the follow-up and related examinations Volunteer to participate in this study and sign the informed consen  Exclusion Criteria:  The researchers assess patients with severe cardiovascular or circulatory disease and cannot tolerate the surgery History of epilepsy or mental illness Pregnant and lactation Surgery history at the relevant surgical site, which is considered to influence surgical procedures Severe allergic or addiction of drug and alcohol Abdominal infection, peritonitis, diaphragmatic hernia, severe systemic infection or metastasis disease Inability to understand the trial or complete the follow-up Participated in other therapeutic clinical trials within 90 days Patients who had undergone major operation and major trauma within 28 days prior to enrollment, which the researchers considered to have an impact on the outcome of surgery Patients deemed unsuitable to participate in this trial by researchers