Inclusion Criteria:  The diameter of single stone or cumulative maximum diameter for multiple stones is less than or equal to 2cm American Society of Anesthesiology scores of 1to 2 All patients participate in this study voluntarily and signed informed consent  Exclusion Criteria:  Uncontrolled urinary tract infection Patients with pyonephrosis are found during operation The patients with abnormal anatomy (heterotopic kidney, horseshoe kidney, duplicate kidney), ureteral stricture, urethral stricture and urinary diversion Severe hydronephrosis Renal function was decompensated (serum creatinine > 178 μmol/L) Severe systemic hemorrhagic disease Patients who underwent bilateral surgery at the same time Severe deformity of hip joint and difficult position