Concentric tube robots (CTRs) have garnered significant attention in various minimally invasive procedures due to their small size and dexterity, enabling access to target clinical sites through minimal incisions. Despite extensive technical advancements in the development of CTRs, there is a lack of design approaches specific to their function as surgical instruments. In this study, we propose a compact CTR specifically designed for percutaneous nephrolithotomy (PCNL), adaptable for both hand-held operation and mounting on a passive arm. The proposed robot measures 46 mm in diameter, 322 mm in length, and weighs 570 g. An ergonomic evaluation of the robot through muscle activation analysis during the handling of the robot by expert urologists and non-clinicians showed better ergonomics than standard hand-held PCNL devices. Additionally, closed-loop position control of the distal end of the CTR was implemented based on resolved-motion rate inverse kinematics. The performance of the robot was empirically validated through a life-size abdominal phantom-based experiment in three phases of the procedure that included skin puncturing, autonomous deployment, and navigation to all parts of a renal stone. The results showed mean closed-loop position errors of 1.2±0.8 mm for autonomous navigation to 100 target points on the stone, indicating a performance level in line with the specific requirements of PCNL.