To adapt the demands of the high-speed and real-time dynamic measurements, a linear array sensor (LAS) and projection fringe-based vision system was proposed to measure the radial vibration of rotating shaft. The projection lamp projects fringe pattern onto the surface of the shaft, and the LAS captures the modulated fringe sequences for tracking the vibration signal using a proposed fringe signal processing method. Simulations using 3-D software were carried out first to verify the feasibility of the method, and the performance of the system was analyzed and investigated by simulations and experiments. In the experiments, the proposed system and the eddy current sensor (ECS)-based system were employed to simultaneously measure the shaft vibration under constant and variable rotating speed conditions for comparison. The result showed that the system can measure the radial vibration of the rotating shaft accurately using 1-D fringe signal. The LAS-based system has the advantages of high accuracy, low cost, and small data for processing, which makes it suitable for vibration monitoring and fault diagnosis for rotating shaft.

By analyzing the advantages and disadvantages of existing spatial straightness measurement methods and the cur-rent situation and demand of enterprises for bar straightness detection,a rotating straightness detection and bending angle positio-ning method based on composite displacement was proposed.By studying the spatial straightness,circular runout,and full runout isomorphic error relationships,the spiral extraction method was used as the measurement point extraction method,and the two-endpoint connection method was utilized as the straightness evaluation method.The laser displacement sensor collected the dis-placement change information along the axial movement while rotating the bar,and the mathematical model of the displacement change information and straightness was established to judge the straightness error of the bar stock.Moreover,the bending angle positioning was realized according to the relationship between the displacement change information and the rotation stroke.Based on the above methods,a set of straightness detection and bending angle positioning device was designed and developed.The meas-urement accuracy and error analysis were carried out by experimental test,the results show that the accuracy,repeatability and bending angle positioning accuracy of the system meet the actual needs.

OBJECTIVE:To investigate the safety and efficacy of three-dimensional reconstruction of renal tumor vessels to guide laparoscopic partial nephrectomy of hilar tumors and non-hilar tumors under zero ischemia. METHODS:The clinical data of 82 patients with renal cancer who underwent zero ischemia retroperitoneal laparoscopic partial nephrectomy in the department of urology of our hospital from January 2018 to January 2021 were retrospectively reviewed. The patients were divided into hilar group and non-hilar group. The clinical data of all patients were statistically analyzed by t-test or χ2. RESULTS:There was no significantly difference in gender, age, tumor diameter and pathological stage between hilar and non-hilar tumor group. Most of the target vessels in the hilar tumor group were single targets, while most of the target vessels in the non-hilar tumor group were multiple targets (P<0.05). There was no significantly difference between the groups for mean operative time and length of stay. But hilar tumor group had significantly longer operation time (109.3 ± 9.2 vs. 90.3 ± 9.5 min, p<0.001). There was no significant difference in renal GFR and serum creatinine between the two groups. Hilar tumor group had no significantly difference of change of creatinine and GFR at post-operative 6 and 12 months as compared with non-hilar tumor group. There were no bleeding, urinary leakage, infection and other related complications in the two groups after 1 month follow-up. After 12 months of follow-up, there was no tumor recurrence and metastasis in the two groups. CONCLUSION:The application of three-dimensional renal tumor vascular reconstruction technology can better realize laparoscopic zero ischemia nephron sparing surgery. The target vessels of patients with hilar, single and early renal cancer are easier to find, which is more suitable for three-dimensional renal tumor vascular reconstruction technology to implement laparoscopic zero ischemia nephron sparing surgery.

We aimed to investigate the outcomes and feasibility of a retroperitoneoscopic clampless, sutureless hybrid technique in the management of renal hilar tumors. A retrospective cohort of consecutive patients with renal hilar tumors who received retroperitoneoscopic clampless, sutureless hybrid therapy between January 2017 and April 2021 was included. The hybrid surgical technique involved microwave ablation (MWA), followed by clampless tumor enucleation and sutureless hemostasis. Surgical, pathological, and oncological outcomes were recorded and analyzed. Sixty patients were included in this study. The median tumor size was 3.5 cm (2–5), the median RENAL score was 7 (range 6–10), the median operative time was 110 min (70–130), and the median estimated blood loss was 80 mL (30–130). The median length of postoperative hospital stay was 3 days (2–4), and no warm ischemia time was observed, except in one patient who required conversion to conventional on-clamp laparoscopic partial nephrectomy (LPN) with a 10 min warm ischemia time. Three minor complications (Clavien–Dindo grade I) and one major complication (Clavien–Dindo grade III) were recorded postoperatively. Thus far, no blood transfusions have been required. Renal dysfunction or tumor recurrence did not occur within a median follow-up of 45 months. The retroperitoneoscopic hybrid technique involving MWA, clampless tumor enucleation, and sutureless hemostasis is a feasible and safe option for the management of selective renal hilar tumors. Complete tumor removal with maximal renal function preservation can be achieved, with a low complication rate.

结合频分复用技术与扫频光学相干测振仪,提出一种基于光学相干多点测振仪(swept-source optical coherence multi-point vibrometer,SSOCMV)的转轴轴心轨迹监测方法和系统,其具有非接触式、非侵入式、高精度以及多点振动同步测量的优点.首先,对SSOCMV的系统组成和测量原理进行了介绍与分析;其次,搭建实验对比系统以验证SSOCMV系统的测量准确性,在SSOCMV系统探头的对称位置安装电涡流传感器以同步监测转轴轴心轨迹,便于对比两个系统的测量结果.实验结果表明,基于光学相干多点测振仪的转轴轴心轨迹监系统比电涡流传感器具有更高的位移分辨率和更好的信噪比.因此,SSOCMV系统在旋转机械状态监测、参数识别和故障诊断等方面具有良好的应用前景.

目的 探讨肾肿瘤靶血管定位法在零缺血腹腔镜下肾部分切除术中的安全性和疗效.方法 回顾性分析2019年1月-2020年9月上海交通大学医学院附属仁济医院泌尿外科收治的80例早期肾癌患者的资料,根据手术方式及肿瘤位置进行分组,其中30例患者为零缺血组,50例患者为传统手术组,分别比较零缺血组与传统手术组、零缺血组中肾门部与其他部位患者的手术时间、术中出血量、住院时间等资料.结果 传统手术组患者手术均顺利完成,零缺血组患者中4例中途阻断肾动脉后行保留肾单位手术,其余26例患者均完成零缺血保留肾单位手术.零缺血组较传统手术组的手术时间[(92.5±9.8)min vs.(71.6±9.9)min,P<0.001]、术中出血量[(150±22)mL vs.(80±19)mL,P<0.001]有所增加,住院时间差异无统计学意义.肾门部肿瘤患者与其他部位患者相比,手术时间有所延长[(109.3±10.2)min vs.(87.3±9.5)min,P<0.001],术中出血量及住院时间差异均无统计学意义.两组患者术后随访时未发生出血、尿漏等并发症及肿瘤复发转移.术后3个月零缺血组患者的肾小球滤过率(GFR)恢复较快(P<0.05),血清肌酐水平差异无统计学意义(P>0.05).结论 对于部分早期肾癌患者,应用三维肾肿瘤血管重建技术能够更好地实现腹腔镜下零缺血保留肾单位手术,有利于患者肾功能的保护.

目的:探讨三维重建虚拟手术规划技术在零缺血腹腔镜肾部分切除术治疗cT1b期肾肿瘤中的临床应用价值.方法:回顾性分析2018年1月至12月间在上海交通大学医学院附属仁济医院泌尿外科行零缺血腹腔镜肾部分切除术的55例cT1b期肾肿瘤病例,其中三维重建组患者29例,CTA组患者26例.三维重建组患者术前行增强CT并在虚拟手术规划技术平台进行三维重建,并根据重建结果确定肿瘤位置、肿瘤供应血管位置、周围血管分布情况,从而制定手术方案,术中根据术前制定方案行零缺血腹腔镜肾部分切除术.CTA组患者术前常规行肾脏增强CT,并根据增强CT影像行零缺血腹腔镜肾部分切除术.比较三维重建组与CTA组间术中出血量、手术时间、术中及术后并发症情况.结果:本研究55例患者均顺利完成手术,无中转开放或根治手术,无严重并发症发生.两组患者年龄、性别、BMI、肿瘤直径、R.E.N.A.L评分差异无统计学意义(P>0.05).三维重建组相比CTA组手术时间更短、术中出血量更少,差异具有统计学意义(P<0.05).所有患者术后病理切缘均为阴性.结论:三维重建虚拟手术规划技术通过术前可视化评估肿瘤、肾脏、血管解剖结构及相对位置,可帮助术者术前合理规划手术方式,在腹腔镜零缺血肾部分切除术中可以有效缩短手术时间,减少术中出血量,具有一定的临床应用价值.

Background This study aimed to evaluate the role of three-dimensional (3D) reconstruction of T1b renal tumors in the off-clamp laparoscopic partial nephrectomy (LPN). Methods A total of 40 consecutive patients undergoing LPN for stage cT1b renal tumor between January 2018 and July 2018 were included. Twenty received off-clamp LPN under the guidance of 3D reconstruction (3D group), and remaining 20 underwent off-clamp LPN under the guidance of conventional computer tomography arteriography (CTA group). The demographics, perioperative characteristics and renal function were compared between groups. Results All the procedures were performed successfully without conversion to main renal artery clamping. There were no significant differences in the age, gender, body mass index (BMI), tumor size, and RENAL score between two groups. The mean operation time (OT) was significantly shorter and estimated blood loss markedly less in the 3D group than in the CTA group. Incidence of postoperative complications was 5% in the 3D group and 10% in the CTA group (P>0.05). 3D reconstruction of renal tumors resulted in more accurate dissection of the tumor artery (90.9%) as compared to conventional CTA (81.5%). All the patients had negative surgical margins. There was no significant difference in the estimated glomerular filtration rate (eGFR) before and after surgery between two groups. Conclusions 3D reconstruction is beneficial for the resection of cT1b renal tumor and tumor-specific feeding arteries in the off-clamp LPN.

目的 探讨肾部分切除术治疗cT2期肾癌的疗效.方法 回顾性分析2007年1月至2018年10月在仁济医院接受肾部分切除术的60例cT2期肾癌患者的临床资料,其中男性46例,女性14例;年龄26～79岁,中位年龄58岁;左侧35例,右侧25例;肿瘤最大直径7.1～11.2 cm,中位数为7.9 cm.25例患者接受开放肾部分切除术,33例患者接受腹腔镜肾部分切除术,2例患者接受机器人辅助肾部分切除术.观察肾功能结果、并发症发生率及癌症控制效果等指标.结果 59例术后病理切缘阴性,1例阳性.术前的肾小球滤过率估值(eGFR)的中位数为96.07(40.40～181.44)mL/(min·1.73 m2),最后一次肾功能评估的eGFR中位数为79.40(6.03～182.81)mL/(min·1.73 m2).共有22例患者术后出现并发症,严重并发症(CCS分级Ⅲ级及以上)的发生率为10％.2年总生存率为97.4％,2年肿瘤特异性生存率为97.4％,2年无进展生存率为93.0％.结论 肾部分切除术可以安全地用于合适选择的cT2期肾癌,具有良好的肾功能保护效果、可接受的并发症发生率和癌症控制效果.

Objective:To investigate the effect of selective clamping of renal arterial branches in robotic-assisted laparoscopic partial nephrectomy(RAPN) for renal hilar tumors.Methods:14 patients with renal hilar tumor who received robotic-assisted laparoscopic partial nephrectomy from April 2017 to June 2019 in our hospital were retrospectively analyzed. 8 males and 6 females were included. The median age was 55.5 years, ranged from 45 to 69 years. The median diameter of the tumor was 3.6 cm with 9 on the left and 5 on the right. 8 cases with T 1a tumors and 6 cases with T 1b tumors were included. The median preoperative serum creatine and estimated glomerular filtration rate(eGFR) was 73 μmol/L and 92.97 ml/(min·1.73 m 2), respectively. The spherical hat RAPN was performed in 14 cases under the general anesthesia. The surgical approach was chosen based on the localization of kidney. The main renal artery, target arterial branch and venous branch were exposed. According to the preoperative image, the target arterial branch was blocked. Results:Robotic-assisted partial nephrectomy with clamping of renal arterial branches was successfully completed in 13 cases, with 1 converted to the conventional method in which the main renal artery was clamped. No case was converted to open surgery or radical nephrectomy. The median operation time was 120(90-160) min. The median blood loss was 120(10-400) ml. There was no intraoperative blood transfusion. The median warm ischemic time was 21.5(13-35) min. The median postoperative hospital stay was 2.5(2-4) days. No major complication was observed after surgery. Pathologic studies revealed 9 cases of clear cell carcinoma, 1 case of papillary cell carcinoma, 1 case of multilocular cystic renal neoplasm of low malignant potential, 1 case of MiT family translocation renal cell carcinoma, 1 case of renal angioleiomyolipoma and 1 case of metanephric adenoma. Surgical margins were negative in all cases. The median follow-up period was 17(2-28) months with no recurrence or metastasis. The median postoperative serum creatine and eGFR was 79(54-129)μmol/L and 84.24(55.53-122.47)ml/(min·1.73 m 2), respectively. Conclusions:Selective clamping of renal arterial branches in robotic-assisted laparoscopic partial nephrectomy for renal hilar tumors has the advantage of minimal invasion, high safety, preservation of postoperative renal function and good effect.

Background With the development of three dimensional (3D) reconstruction and printing technology, it has been widely using in the field of urology. However, there have been few studies reporting the role of 3D reconstruction in zero-ischemia partial nephrectomy (PN). The aim of this study was to assess the role of 3D reconstruction and conventional computer tomography angiography (CTA) in zero-ischemia laparoscopic partial nephrectomy (LPN). Methods A total of 60 consecutive patients undergoing zero-ischemia LPN between October 2017 and March 2018 who underwent CTA (CTA group including 30 patients) and 3D reconstruction (3D group including the remaining 30 patients) preoperatively were included. 3D reconstruction and CTA images were prepared which were used to demonstrate the number and spatial interrelationships of the location of renal tumors and tumor feeding arteries. These radiological findings were directly correlated with intraoperative surgical findings at laparoscopy. Baseline, perioperative variables and the rate of accurate tumor feeding artery orientation were compared between groups. Results All LPNs were completed without conversion to renal hilar clamping or open surgery. Preoperative 3D reconstruction identified that 15 patients had only one tumor feeding artery, 12 had two, and another 3 had three, while the conventional CTA revealed that 22 patients had one tumor feeding artery, 8 had two ( P > 0.05). The mean operation time was shorter and estimated blood loss was less in the 3D group ( P < 0.05) and the rate of accurate tumor feeding artery dissection was higher in the 3D group (91.7%) in comparison with the CTA group (84.2%). The baseline characteristics and renal function outcomes had no statistical differences between groups. Conclusions 3D reconstruction can provide comprehensive information for the preoperative evaluation and intraoperative orientation about tumor feeding arteries that may facilitate tumor resection during zero-ischemia LPN for renal tumors.

Background The study aims to evaluate efficiency, safety and the functional outcomes of zero ischemia laparoscopic microwave ablation assisted tumor enucleation (LMWATE) in comparison with laparoscopic partial nephrectomy (LPN) for cT1a renal tumors. Methods A prospective randomized controlled trial on cT1a renal tumor patients treated by laparoscopic nephron sparing surgeries between October 2014 to September 2017 was conducted. Tumor enucleation was performed in the LMWATE group after microwave ablation (MWA) without hilar clamping. The endpoint was the affected kidney’s change of GFR measured by renal scintigraphy at the 3rd month and 12th month postoperatively. All the patients were followed up for at least 12 months. The Student t-test, Wilcoxon rank sum tests and Pearson Chi-square or Fisher exact were applied to analyse data. Results The number of patients enrolled in the LMWATE group and LPN group were 90 and 93 respectively. Patients in the LPN group showed much more decline of effect kidney glomerular filtration rate at 3 months (10.3 vs. 17.4, P<0.001) and 12 months postoperatively (8.8 vs. 10.2, P=0.023) when compared to the LMWATE group. Additionally, in the LMWATE group, considerably shorter median operation duration (91 vs. 112 minutes, P<0.001), lower median estimated blood loss (82.5 vs. 117.5 mL, P<0.001) and shorter hospital stay (5.5 vs. 6 days, P=0.013) were observed but with similar postoperative complications in both groups. There was no positive margin or local recurrence in both groups. Conclusions Zero ischemia LMWATE may provide better preservation of renal function, decrease operative time and blood loss compared to LPN with similar complication rates.

A decrease in cancer deaths has resulted in the possibility of child bearing for many young adult cancer survivors. Most antitumor treatment modalities are detrimental to female fertility, and methods for fertility preservation before gonadotoxic treatment, including cryopreservation of oocytes, embryos and ovarian tissue, have therefore been developed. This review focuses on the ovarian function of cancer patients, the safety and efficacy of fertility preservation methods, and the pregnancy outcomes of these patients. Breast cancer and hematological tumors constitute the majority of cancers in reproductive-aged female oncology patients. Ovarian function may not be impacted by breast cancer cells, while in patients with hematological malignancies, decreases in anti-Müllerian hormone and antral follicle counts have been demonstrated. In most cases, patients can undergo ovarian stimulation without delaying treatment, and a new stimulation protocol known as dual stimulation, which may be more efficient, has now been developed. Birth outcomes are also acceptable in cancer patients.

Correspondence to: Yonghui Chen; Wei Xue. Department of Urology, Renji Hospital, School of Medicine, Shanghai Jiaotong University, Shanghai 200127, China. Email: cyh1488@163.com; xuewei@renji.com. Background Aberrantly expressed microRNAs play important biological functions in the pathogenesis, progression and metastasis of numerous malignancies. Thus, further identification of these non-coding transcriptions is warranted. Methods miRNAs expression data of renal cell carcinoma (RCC) as well as the normal renal tissue samples was downloaded from TCGA and GEO database, and was analyzed by both computational and experimental approaches. The bio-functional role of the miRNA was then moreover identified by over-expression and inhibition assays. Beyond that, Western blots, luciferase assays, along with immunohistochemistry (IHC) tests were conducted for further study of the potential mechanisms. Results In this study, a novel regulatory miRNA, miR-30a-3p, was identified along with its biological function as well as prognostic value in RCC. Functionally, miR-30a-3p inhibits RCC cell invasion and migration. miR-30a-3p targets autophagy related 12 (ATG12), which we confirmed by luciferase reporter assays and Western blotting. Conclusions In conclusion, miR-30a-3p, as a new prognostic marker in RCC, down-regulates RCC cell invasion and migration by targeting ATG12. This consistently improves the overall survival of RCC patients.

The continuous development of offshore engineering construction has put forward higher requirements for offshore geotechnical engineering investigation. Due to the fact that conventional marine in-situ test is difficult to meet the economic, fast and convenient requirements of projects such as offshore wind power development, port dredging and pipeline and cable surveys, free fall penetration test has attracted attention. The development of free fall penetration test is reviewed and a kind of free fall penetration technology is introduced for marine soft soil. The methods of undrained shear strength of soft soil and classification of sediment based on FFP are summarized. The authors designed a new free fall piezocone penetrometer for evaluating the characteristics of offshore geotechnical engineering and proposed the FFP engineering characteristic evaluation framework. The analysis shows that free fall penetration test has a broad application prospect in offshore geotechnical engineering testing.

目的:应用微波消融辅助后腹腔镜肾部分切除术(MWA-LPN)治疗中危肾肿瘤(PADUA评分8～9分),以缩短肾脏热缺血时间,保护肾功能.方法:回顾性分析2014年1月～2017年8月我院收治中危肾肿瘤患者157例,79例行微波消融辅助后腹腔镜肾部分切除术(MWA-LPN组),另78例行腹腔镜肾部分切除术(LPN组),比较两组手术时间、热缺血时间、术中出血量、术后并发症、住院天数及肾功能等临床指标.结果:所有手术均获成功,无中转开放.MWA-LPN组和LPN组平均手术时间分别为(90.3±31.9) min、(100.9±23.2) min;平均热缺血时间分别为(10.6±4.1)min、(18.6±2.9) min;术后平均住院天数分别为(4.8±0.9)d、(5.5±1.3)d,两组比较差异均有统计学意义(P＜0.05).MWA-LPN组和LPN组术中平均出血量分别为(132.8±66.7) ml、(129.5±142.4) ml,两组比较差异无统计学意义;两组术后切缘病理均阴性,Scr及eGFR比较差异无统计学意义.MWA-LPN组术后尿瘘1例,血尿1例,切口愈合不良1例,发热2例;LPN组术后尿瘘1例,血尿2例,发热2例,两组比较差异无统计学意义.本组随访12～55个月,平均(26.9±10.6)个月,未发现肿瘤局部复发及远处转移.结论:MWA-LPN具有热缺血时间短、术后恢复快等优点,是一种可供选择的安全、有效的治疗中危肾肿瘤术式,但其远期疗效尚需大样本对照研究和长期随访观察.

Objective To identify clinicopathologic features of early onset RCC in Asian population.Methods Surveillance,Epidemiology,End Results Registry (SEER) database were queried for cases diagnosed as RCC in Asia or pacific islander between 2010 and 2015.Patients diagnosed with RCC in Renji hospital during 2014-2018 were reviewed.All Patients was divided into two group,including early onset group (≤46 years) and control group (＞46 years).There were 3 023 patients with average age of 61 years old,ranging from 10-93 years old in SEER cohort and 2 702 patients with average age of 57 years old,ranging from 15-89 years old in Renji cohort.Early onset group took up 13.4％ (406/3 023) in SEER cohort and 20.2％ (546/2 702) in Renji cohort.Clinicopathologic characteristics were compared between groups in both cohorts.Results The histologic spectrum of early onset group was significantly different from control group comprising fewer clear cell renal cell carcinoma(76.8％ vs.84.8％ in SEER cohort;84.3％ vs.88.5％ in Renji cohort),more chromophobe renal cell carcinoma(12.1％ vs.6.2％ in SEER cohort;11.2％ vs.4.8％ in Renji cohort) (P ＜ 0.01 in both cohorts).21 cases of Xp 11 translocation RCCs were identified in Renji cohort taking up 3.8％ (21/546) of early onset group which was higher than that in control group (0.3 ％,7/2 156),Von Hippel-Lindau syndromes took up 2.0％ (11/546) of early onset group larger than control group (0.3％,7/2 156).In addition,early onset RCC was more likely to be classified into lower pathological T stage(85.5％ vs.78.1％ P =0.037 in SEER cohort;96.1％ vs.91.2％ P ＜ 0.01 in Renji cohort)containing more low-grade tumors (58.1％ vs.53.4％,P =0.043 in SEER cohort;85.2％ vs.79.4％,P ＜0.01 in Renji cohort).The overall follow-up rate of SEER cohort was 96.0％ (2 901/3 023),follow-up time ranges from 1 to 71 months with a median of 26 months.The 1-year,3-year and 5-year overall survival rate were 94.0％ 、92.1％ 、92.1％ in early onset group and 89.7％、81.1％ 、74.2％ in control group,the differences were significant in statistics (P ＜ 0.01).Conclusions Asians who developed early onset RCC present with more ChRCC and fewer ccRCC compared to the older patients.Xp 11 translocation RCCs and VHL disease frequently occurred in younger group rather than the old counterparts.Younger patients diagnosed with RCC usually manifest lower T stage and tumor grade with a favorable prognosis.

Piao Guo1*, Yuchao He1*, Lu Chen2, Lisha Qi3, Dongming Liu2, Ziye Chen1, Manyu Xiao1, Liwei Chen1, Yi Luo1, Ning Zhang1, Hua Guo1 1Department of Tumor Cell Biology; 2 Department of Hepatobiliary Cancer; 3 Department of Pathology, Tianjin Medical University Cancer Institute and Hospital, National Clinical Research Center for Cancer; Key Laboratory of Cancer Prevention and Therapy, Tianjin, Tianjin’s Clinical Research Center for Cancer, Tianjin 300060, China