Patients aged 18-80 years.

BMI was 18-30 kg/m2.

The American Society of Anesthesiologists (ASA) classification was I, II, or III.

Patients with adrenal tumor that need radical or partial adrenalectomy (nonfunctioning adenoma, \< 5cm in diameter).

Patients with renal cell carcinoma that need radical nephrectomy or partial nephrectomy.

Patients with renal cyst that need decompression surgery.

Patients with duplex kidney that need radical nephroureterectomy.

Patients with renal calculi that need intrasinusal pyelolithotomy.

Patients with ureteral calculi that need ureterolithotomy.

Patients with ureteropelvic junction obstruction (UPJO) that need pyeloplasty.

Patients with urological diseases (such as, pelvic segment disease of the ureter, or duplex kidney) that need ureteral reimplantation.

Patients with nonfunctioning kidney that need radical nephrectomy.

Patients with renal pelvis carcinoma that need radical nephroureterectomy.

Patients with ureteral tumor that need radical nephroureterectomy.

Patients with bladder cancer that need radical or partial cystectomy.

Patients with prostate cancer that need radical prostectomy.

Patients with penile cancer that need Ilioinguinal lymph node dissection.

Minimum age: 18

Women in pregnancy or lactation

A history of epilepsy or mental illness

Previous relevant operation history (all abdominal operations that may increase difficulty in telesurgery)

Patients with a severe cardiovascular and cerebrovascular disease with New York Heart Association (NYHA) classification III-IV and pulmonary insufficiency who cannot tolerate the operation

Liver cirrhosis, kidney failure and other severe liver and kidney dysfunction (ALT and AST exceeded 3 times of the upper limit of normal value, Cr exceeded 1.5 times of the upper limit of normal value)

Patients with general hemorrhagic diseases and coagulation dysfunction (prothrombin activity, PTA \<25%)

Patients with active hepatitis and AIDS

Patients with uncorrected diabetes (random blood glucose, RBG \>11.1 mmol/L) and hypertension (≥160/100 mmHg)

Patients with severe allergic constitution and suspected or confirmed alcohol, medicine or drug addiction

Patients with abdominal infection, peritonitis or diaphragmatic hernia

Patients with severe systemic infection or metastatic disease

Patients who are unable to voluntarily participate and sign informed consent

Other circumstances under which the investigator considers it is inappropriate to participate in this clinical trial