Pose Estimation of Excavator Manipulator Based on Monocular Vision Marker System.

Excavation is one of the broadest activities in the construction industry, often affected by safety and productivity. To address these problems, it is necessary for construction sites to automatically monitor the poses of excavator manipulators in real time. Based on computer vision (CV) technology, an approach, through a monocular camera and marker, was proposed to estimate the pose parameters (including orientation and position) of the excavator manipulator. To simulate the pose estimation process, a measurement system was established with a common camera and marker. Through comprehensive experiments and error analysis, this approach showed that the maximum detectable depth of the system is greater than 11 m, the orientation error is less than 8.5°, and the position error is less than 22 mm. A prototype of the system that proved the feasibility of the proposed method was tested. Furthermore, this study provides an alternative CV technology for monitoring construction machines.

Primary Alveolar Soft-Part Sarcoma of the Lung: A Case Report.

Alveolar soft-part sarcoma is a rare type of soft tissue malignant tumor. Although the tumor can occur in many parts of the body, primary alveolar soft-part sarcoma of the lung is extremely rare. According to previous literature, only 3 cases of primary alveolar soft-part sarcoma of the lung were reported, and no comprehensive analysis was conducted on these cases. Here, we describe another case of alveolar soft-part sarcoma in the lung, where the negative results of immunohistochemical staining cause extreme difficulty in distinguishing this lesion from other tumors. A 30-year-old Chinese male presented with chest pain and dyspnea. Computed tomography revealed a pulmonary mass, and biopsy results showed vacuolar tumor cells with abundant eosinophilic cytoplasm. A number of immunohistochemical markers were negative, but the tumor cells were positive for TFE3 and ASPSCR1::TFE3 fusion gene. No other tumor masses were found in the patient after whole-body scanning. The final diagnosis was primary alveolar soft-part sarcoma of the lung. Pathologists should consider the possibility of alveolar soft-part sarcoma in lung tumors with typical "organ like" or "acinar like" cell nests, where the tumor cells are large, vacuolated, and the nucleolus is obvious. After excluding metastasis from other sites, TFE3 immunohistochemical staining and ASPSCR1::TFE3 fusion gene detection are recommended for the diagnosis of primary alveolar soft-part sarcoma.

A unique case of inflammatory myofibroblastic tumor of the liver manifesting with biloma: A case report.

Anaplastic lymphoma kinase (ALK)-negative hepatic inflammatory myofibroblastic tumors (IMTs) harboring the ETS variant transcription factor 6-neurotrophic receptor tyrosine kinase 3 (ETV6-NTRK3) fusion gene and manifesting with biloma are extremely rare, and their biological behavior is unclear. The present study reports the case of a 45-year-old female with ALK-negative IMT of the liver harboring the ETV6-NTRK3 fusion gene and manifesting with biloma. Computed tomography of the abdomen confirmed the lesions to be a low-density mass, measuring 11.2×8.5×10.5 cm, located in the left lobe of the liver, and a lower-density mass, measuring 8.5×6.1×5.9 cm, located in the interior of the tumor. As the suspicion of a malignancy remained high, surgical resection of the left hepatic lobe, including the tumor, was undertaken. Intraoperatively, a tumor (12×10×9 cm), with an unclear boundary, incomplete capsule and fish-like texture, was found in the left lateral lobe of the liver, and a biloma, measuring 8×6 cm, was identified inside the tumor. Pathological examination revealed spindle cell proliferation with infiltration of chronic inflammatory cells and mucinous degeneration. Immunohistochemical studies showed negativity for ALK, CD117, CD34, discovered on GIST-1, desmin, smooth muscle actin, S-100, CD21, pan-cytokeratin, epithelial membrane antigen, CD23 and CD35, but positivity for vimentin staining, and 5% Ki-67-positive cells. Fluorescence in situ hybridization studies assessing characteristic genetic rearrangements using ALK, RET, ROS1, MDM2, MGEA5 and ETV6 break-apart assays, revealed the presence of the ETV6-NTRK3 fusion oncogene and negativity for ALK, RET, ROS1, MDM2 and MGEA5. The patient was discharged 7 days post-operatively, without any adjuvant treatment. No recurrence of symptoms was noted at the 3-year follow-up. To the best of our knowledge, this is the first report of biloma in an ALK-negative IMT of the liver, which may increase our understanding of hepatic IMT.

46, XY disorder of sex development (DSD) complicated by a serous borderline tumor of the ovary: a case report and review of the literature.

BACKGROUND: Patients with 46, XY disorder of sex development (DSD) are predisposed to the development of gonadal tumors, particularly germ cell tumors and gonadoblastoma. However, to the best of our knowledge, there are no publications in the existing literature that refer to the coexistence of 46, XY DSD and serous tumors in the ovary. CASE PRESENTATION: Here, we report the case of a 23-year-old female (social gender) patient with 46, XY DSD presenting with primary amenorrhea. Imageology revealed a huge mass in the left adnexa. Subsequent pathological analysis revealed a serous borderline tumor of the ovary. CONCLUSION: Gonadal tumors of patients with 46, XY DSD are not necessarily malignant tumors and can coexist with borderline tumors with primitive corded gonads. The coexistence of DSD and serous borderline tumors is rare. Clearly, an early and accurate diagnosis plays an important role in the treatment of these patients. Although there may not be a clear correlation between the two lesions, it is vital that we specifically analyze the mechanisms involved so that we can determine whether patients with DSD are associated with an increase of developing serous borderline tumors of the gonad.

Primary rectal seminoma with the presence of disorder of sex development characteristics: a case report.

BACKGROUND: Although the occurrence of primary extragonadal seminoma is rare, there are reported clinical cases of seminoma occurring in mediastinum, lung, retroperitoneal, central nervous system, and even in the small intestine. However, there is lack of report of rectal seminoma. Here we report a case of rectal seminoma in a 53 years old Chinese patient. CASE DESCRIPTION: This 53-year-old male patient presented with bulging anus and abnormality in the shape of his stool. Physical examination revealed that the patient's external genital organs have abnormal development, presenting characters of disorder of sex development, which was absence of testis in scrotum. Computed tomography (CT) scan of abdomen and pelvic cavity found that there was a tumor of irregular shape in the lower rectum. In addition, there was no other tumor found in the other parts of the body. Results from immunohistochemistry showed that placental alkaline phosphatase (PLAP) and CD117 were positive. Based on the examination results described above, this clinical case was diagnosed as seminoma. CONCLUSION: Due to the rareness of rectal seminoma in patients of disorder of sex development, diagnosis should be made with extra cautious by taking into account of clinical symptoms, images of tomography scan, pathology test and immunohistochemical analysis. When seminoma occurs in extragonadal, it needs to be examined with extra care to exclude the possibility of other types of tumor. Further research is required to evaluate whether there is any association between disorder of sex development and extragonadal seminoma.