Treatment of lumbar disc herniation with robot combined with unilateral biportal endoscopic technology:A case report

BACKGROUND This reported procedure combines the orthopedic surgical robot with the unilateral biportal endoscopy-lumbar interbody fusion(UBE-LIF),utilizing the UBE's wide viewing field and operating space to perform minimally invasive decompressive fusion of the lesioned segment,and the orthopedic surgical robot's intelligence and precision to perform percutaneous pedicle screw placement.The advancement of this procedure lies in the superposition of advantages and offsetting disadvantages of the two new technologies,and the maximum effect of treatment is achieved with maximum minimization of invasiveness and precision under the monitoring of imaging instruments to maximize the benefit of patients,and this review reports a case of multiple-segment lumbar decompression and fusion surgery for lumbar disc herniation via robot-assisted UBE for reference.CASE SUMMARY A 44-year-old patient presented to our hospital.Combining various clinical data,we diagnosed the patient with lumbar disc herniation with radiculopathy,lumbar spondylolisthesis,and lumbar spinal stenosis.We developed a surgical plan of"UBE decompression+UBE-LIF+orthopedic surgery robot-assisted percutaneous pedicle screw implantation for internal fixation".The results were satisfactory.CONCLUSION We present an extremely rare case of multiple-segment lumbar decompression and fusion surgery for lumbar disc herniation via robot-assisted UBE and achieved good results.Therefore,the technique is worthy of clinical promotion.

Symmetry of upper eyelid after unilateral blepharoptosis repair with minimally invasive conjoint fascial sheath suspension technique

AIM:To investigate the symmetry of upper eyelid in patients with unilateral mild and moderate blepharoptosis who underwent unilateral minimally invasive combined fascia sheath(CFS)suspension.METHODS:A retrospective study of patients who underwent unilateral minimally invasive CFS suspension surgery between January 2018 and December 2021.Inclusion criteria included unilateral mild and moderate ptosis,good levator muscle function(>9 mm)and follow-up of at least 6mo.Pre-and post-operative symmetry was graded subjectively for marginal reflex distance 1(MRD1),tarsal platform show(TPS)and eyebrow fat span(BFS).A t-test was used to evaluate MRD1,TPS and BFS asymmetry by calculating delta values.The Bézier curve tool of the Image J software was used to extract the upper eyelid contours,where the symmetry was measured by the percentage of overlapping curvatures(POC).RESULTS:Totally 105 patients(105 eyelids)were included(mild group,n=84;moderate group,n=21).Postoperatively,all patients increased MRD1 and decreased TPS in the ptotic eye while maintaining unchanged BFS.The asymmetric delta value for MRD1 was measured to be 1.48±0.86 preoperatively,and it decreased to 0.58±0.67 postoperatively in all cases(P=0.0004).In patients with mild ptosis,the asymmetry value of TPS fell significantly from 1.15±0.62 to 0.68±0.38(P=0.0187).The symmetry of the upper eyelid contour increased in all subgroups of patients,with a POC of 59.39%±13.45%preoperatively and POC of 78.29%±13.80%postoperatively.CONCLUSION:Minimally invasive CFS suspension is proved to be an effective means of improving the symmetry of unilateral ptosis in terms of MRD1(all subgroups),POC(all subgroups)and TPS(only mild group),whereas BFS is unaffected.

Role of targeted neuromodulation in the treatment of congenital unilateral lower lip palsy:A clinical case report

Congenital unilateral lower lip palsy(CULLP),or congenital hypoplasia of the depressor anguli oris muscle,also known as asymmetric crying facies,is a rare condition that results in asymmetry of the lower lip during smiling,laughing,and crying.Although the etiology is unknown,weakness of the depressor labii inferioris(DLI)muscle is implicated as a contributing factor.Currently,no well-established treatment options are available.This case report describes an 18-year-old male patient diagnosed with CULLP.Physical examination revealed a symmetric face at rest,but asymmetry when smiling and opening the mouth.Following the administration of lidocaine into the affected DLI muscle,the patient’s smile and lower lip symmetry were immediately restored without any adverse effects.Subsequently,administration of botulinum toxin for neuromodulation of the DLI muscle led to a significant improvement in symmetry and oral function within 2 weeks,which was sustained at 1 month and 3 months post-treatment.No adverse effects were reported,and both patients and families expressed high satisfaction with the outcomes.This case highlights the potential use of neuromodulation as a minimally invasive and effective treatment for CULLP.

Intentionally unilateral prostatic artery embolization:Patient selection,technique and potential benefits

BACKGROUND Prostatic artery embolization(PAE)is a promising but also technically demanding interventional radiologic treatment for symptomatic benign prostatic hyperplasia.Many technical challenges in PAE are associated with the complex anatomy of prostatic arteries(PAs)and with the systematic attempts to catheterize the PAs of both pelvic sides.Long procedure times and high radiation doses are often the result of these attempts and are considered significant disadvantages of PAE.The authors hypothesized that,in selected patients,these disadvantages could be mitigated by intentionally embolizing PAs of only one pelvic side.AIM To describe the authors’approach for intentionally unilateral PAE(IU-PAE)and its potential benefits.METHODS This was a single-center retrospective study of patients treated with IU-PAE during a period of 2 years.IU-PAE was applied in patients with opacification of more than half of the contralateral prostatic lobe after angiography of the ipsilateral PA(subgroup A),or with markedly asymmetric prostatic enlargement,with the dominant prostatic lobe occupying at least two thirds of the entire gland(subgroup B).All patients treated with IU-PAE also fulfilled at least one of the following criteria:Severe tortuosity or severe atheromatosis of the pelvic arteries,non-visualization,or visualization of a tiny(<1 mm)contralateral PA on preprocedural computed tomographic angiography.Intraprocedural contrast-enhanced ultrasonography(iCEUS)was applied to monitor prostatic infarction.IU-PAE patients were compared to a control group treated with bilateral PAE.RESULTS IU-PAE was performed in a total 13 patients(subgroup A,n=7;subgroup B,n=6).Dose-area product,fluoroscopy time and operation time in the IU-PAE group(9767.8μGy∙m^(2),30.3 minutes,64.0 minutes,respectively)were significantly shorter(45.4%,35.9%,45.8%respectively,P<0.01)compared to the control group.Clinical and imaging outcomes did not differ significantly between the IU-PAE group and the control group.In the 2 clinical failures of IU-PAE(both in subgroup A),the extent of prostatic infarction(demonstrated by iCEUS)was significantly smaller compared to the rest of the IU-PAE group.CONCLUSION In selected patients,IU-PAE is associated with comparable outcomes,but with lower radiation exposure and a shorter procedure compared to bilateral PAE.iCEUS could facilitate patient selection for IU-PAE.

Effects of unilateral superimposed high-frequency jet ventilation on porcine hemodynamics and gas exchange during one-lung flooding

BACKGROUND Superimposed high-frequency jet ventilation(SHFJV)is suitable for respiratory motion reduction and essential for effective lung tumor ablation.Fluid filling of the target lung wing one-lung flooding(OLF)is necessary for therapeutic ultrasound applications.However,whether unilateral SHFJV allows adequate hemodynamics and gas exchange is unclear.AIM To compared SHFJV with pressure-controlled ventilation(PCV)during OLF by assessing hemodynamics and gas exchange in different animal positions.METHODS SHFJV or PCV was used alternatingly to ventilate the non-flooded lungs of the 12 anesthetized pigs during OLF.The animal positions were changed from left lateral position to supine position(SP)to right lateral position(RLP)every 30 min.In each position,ventilation was maintained for 15 min in both modalities.Hemodynamic variables and arterial blood gas levels were repeatedly measured.RESULTS Unilateral SHFJV led to lower carbon dioxide removal than PCV without abnormally elevated carbon dioxide levels.SHFJV slightly decreased oxygenation in SP and RLP compared with PCV;the lowest values of PaO_(2) and PaO_(2)/FiO_(2) ratio were found in SP[13.0;interquartile range(IQR):12.6-5.6 and 32.5(IQR:31.5-38.9)kPa].Conversely,during SHFJV,the shunt fraction was higher in all animal positions(highest in the RLP:0.30).CONCLUSION In porcine model,unilateral SHFJV may provide adequate ventilation in different animal positions during OLF.Lower oxygenation and CO_(2) removal rates compared to PCV did not lead to hypoxia or hypercapnia.SHFJV can be safely used for lung tumor ablation to minimize ventilation-induced lung motion.

Study on the Design Scheme of Vehicle Flow Lines in Unilateral Agglomerative Open Service Area

In recent years,with the introduction of the strategy to strengthen the country’s transportation infrastructure and the continuous implementation of new economic development models such as integrating transportation with tourism,various open service areas integrating highway service areas with local tourism have emerged nationwide.Examples include the Yangcheng Lake service area in Jiangsu and the Lengshui service area in Chongqing.This paper focuses on the design example of the Dazu Stone Carving service area on the Chongqing section of the Yurong Expressway,comprehensively considering factors such as construction scale,terrain conditions,and local urban planning.It analyzes and studies the traffic flow design of unilateral agglomerative open service areas around two vehicle traffic conversion links:between the main expressway and the service area,and between the service area and local roads.The aim is to provide a case study reference for similar projects.

Symmetry and Hojman Conserved Quantity of Tznoff Equations for Unilateral Holonomic System

Symmetry of Tzénoff equations for unilateral holonomic system under the infinitesimal transformationsof groups is investigated.Its definitions and discriminant equations of Mei symmetry and Lie symmetry of Tzénoffequations are given.Sufficient and necessary condition of Lie symmetry deduced by the Mei symmetry is also given.Hojman conserved quantity of Tzénoff equations for the system above through special Lie symmetry and Lie symmetryin the condition of special Mei symmetry respectively is obtained.

MRS study on lentiform nucleus in idiopathic Parkinson‘s disease with unilateral symptoms

Objective: To investigate changes in magnetic resonance spectroscopy (MRS) of lentiform nucleus during the early stage of Parkinson抯 disease. Methods: Twenty-five patients with idiopathic Parkinson disease with unilateral symptoms (IPDUS) and 25 healthy volunteers were enrolled in this study. MRS of the lentiform nucleus in each patient was taken and then concentrations of N-acetylaspartate (NAA), Creatine (Cr) and Choline (Cho) were calculated. Results: Compared to that in the control, NAA/ (Cho+Cr) was significantly lower in the lentiform nucleus contralateral to symptoms and even that in the ipsilateral side in IPDUS patients (all P<0.05); while there was no difference between the two sides in the healthy volunteer (P>0.05). The ratio of NAA/(Cho+Cr) ipsilateral to the sympatomatic side of the patient was also lower than that of the control (P<0.05). Conclusions: there might be some changes with MRS on the lentiform nucleus during the early stage of idiopathic Parkinson抯 disease with unilateral symptom. MRS may be one of the reliable methods for early or even sub-clinical diagnosis.

Mei symmetry and Mei conserved quantity of nonholonomic systems with unilateral Chetaev type in Nielsen style

This paper studies the Mei symmetry and Mei conserved quantity for nonholonomic systems of unilateral Chetaev type in Nielsen style. The differential equations of motion of the system above are established. The definition and the criteria of Mei symmetry, loosely Mei symmetry, strictly Mei symmetry for the system are given in this paper. The existence condition and the expression of Mei conserved quantity are deduced directly by using Mei symmetry. An example is given to illustrate the application of the results.

Contrast-free air cholangiography-assisted unilateral plastic stenting in malignant hilar biliary obstruction

BACKGROUND:Endoscopic palliation in malignant hilar biliary obstruction requires endoscopic retrograde cholangiopancreatography (ERCP),whereas contrast injection leads to cholangitis.Contrast-free metal stenting with or without magnetic resonance cholangiopancreatography (MRCP) has shown encouraging results,but MRCP and metal stents are costly.There have been no reports on the use of air cholangiography.METHODS:We prospectively evaluated the role of air cholangiography-assisted unilateral plastic stenting in 10 patients with type Ⅱ malignant hilar biliary obstruction.A retrospectively analysed group of 10 patients treated with contrast-free unilateral metal stenting served as historical controls.RESULTS:Ten patients with unresectable type Ⅱ malignant hilar biliary obstruction were studied.Air cholangiography detected type Ⅱ obstruction in all patients,similar to MRCP.The patients underwent unilateral stenting.Successful endoscopic drainage was achieved in all patients.The mean patency of the stent was 95.8±17.5 days in the study group and 143.9±115.1 days in the control group (P=0.20).The mean survival was 121.8±41.6 days in the study group and 154.9±122.5 days in the control group (P=0.42).KaplanMeier analysis showed an estimated median survival of 100:95% CI (65.9,134.1) days in the study group and 98:95% CI (84.1,111.9) days in the control group (P=0.62).Cholangitis occurred in none of the patients and there were no 30-day deaths nor major complications.Air cholangiographyassisted unilateral plastic stenting was cheaper than contrastfree unilateral metal stenting.CONCLUSION:Air cholangiography-assisted unilateral plastic stenting is as safe and effective as contrast-free unilateral metal stenting in type Ⅱ malignant hilar biliary obstruction for palliating patients,but it is cheaper.

Lie-form invariance of non-holonomic systems with unilateral constraints

In this paper the Lie-form invariance of the non-holonomic systems with unilateral constraints is studied. The definition and the criterion of the Lie-form invariance of the system are given. The generalized Hojman conserved quantity and a new type of conserved quantity deduced from the Lie-form invariance are obtained. Finally, an example is presented to illustrate the application of the results.

Perturbation of Symmetries and Hojman Adiabatic Invariants for Mechanical Systems with Unilateral Holonomic Constraints

The perturbation of symmetries and adiabatic invariants for mechanical systems with unilateral holonomic constraints are studied. The exact invariant in the form of Hojman led by special Lie symmetries for an undisturbed system with unilateral constraints is given. Based on the concept of high-order adiabatic invariant of mechanical systems, the perturbation of Lie symmetries for the system under the action of small disturbance is investigated, and a new adiabatic invariant for the system with unilateral holonomic constraints is obtained, which can be called Hojman adiabatic invariant. In the end of the paper, an example is given to illustrate the application of the results.

Heavy oil component characterization with multi-dimensional unilateral NMR

Heavy oil is a complicated mixture and a potential resource and has attracted much attention since the end of last century. It is important to characterize the composition of heavy oil to enhance its recovery efficiency. A designed unilateral Nuclear Magnetic Resonance （NMR） sensor with a Larmor frequency of 20 MHz and a well-defined constant gradient of 23.25 T/m was employed to acquire three- dimensional （3D） data for three heavy oil samples. The highly-constant gradient is advantageous for diffusion coefficient measurement of heavy oil. A fast data-implementation procedure including specially designed 3D pulse sequence and Inversion Laplace Transform （ILT） algorithm was adopted to process the data and extract 3D T1-D-T2 probability function. It indicates that NMR relaxometry and diffusometry are useful to characterize the components of heavy oil samples. NMR results were compared with independent measurements of fractionation and gas chromatography analysis.

Structural Equation and Mei Conserved Quantity of Mei Symmetry for Appell Equations in Holonomic Systems with Unilateral Constraints

Structural equation and Mei conserved quantity of Mei symmetry for Appell equations in holonomic systems with unilateral constraints are investigated. Appell equations and differential equations of motion for holonomie mechanic systems with unilateral constraints axe established. The definition and the criterion of Mei symmetry for Appell equations in holonomic systems with unilateral constraints under the infinitesimal transformations of groups axe also given. The expressions of the structural equation and Mei conserved quantity of Mei symmetry for Appell equations in holonomic systems with unilateral constraints expressed by Appell functions are obtained. An example is given to illustrate the application of the results.

A DIFFERENTIAL GEOMETRIC DESCRIPTION FOR TIME-INDEPENDENT CHETAEV'S NONHOLONOMIC MECHANICAL SYSTEM WITH UNILATERAL CONSTRAINTS

By applying the framework of the tangent bundle geometry to the method of Lagrange multi- pliers,a geometric description of Chetaev's nonholonomic systems subjected to unilateral nonholonomic con- straints trod unilateral holonomic constraints respectively in time-independent circumstances is presented.

A type of new conserved quantity deduced from Mei symmetry for Appell equations in a holonomic system with unilateral constraints

A type of new conserved quantity deduced from Mei symmetry of Appell equations for a holonomic system with unilateral constraints is investigated. The expressions of new structural equation and new conserved quantity deduced from Mei symmetry of Appell equations for a holonomic system with unilateral constraints expressed by Appell functions are obtained. An example is given to illustrate the application of the results.

Generalized Lutzky Conserved Quantities of Holonomic Systems with Remainder Coordinates Subjected to Unilateral Constraints

This paper focuses on studying the relation between a velocity-dependent symmetry and a generalized Lutzky conserved quantity for a holonomic system with remainder coordinates subjected to unilateral constraints. The differential equations of motion of the system are established, and the definition of Lie symmetry for the system is given. The conditions under which a Lie symmetry can directly lead up to a generalized Lutzky conserved quantity and the form of the new conserved quantity are obtained, and an example is given to illustrate the application of the results.

Combined intra-arterial chemotherapy and intravitreal melphalan for the treatment of advanced unilateral retinoblastoma

●AIM:To evaluate the efficacy and safety of combined intraarterial chemotherapy(IAC)and intravitreal melphalan(IVM)for the treatment of advanced unilateral retinoblastoma.●METHODS:This retrospective study involved 30 consecutive eyes from 30 Chinese patients with advanced unilateral retinoblastoma.All patients were initially treated with IAC combined with IVM.The clinical status and complications were recorded at each visit.●RESULTS:The International Intraocular Retinoblastoma Classification groups were D in 23 eyes and E in 7 eyes.All eyes showed severe cloud vitreous seeds at the first visit.The mean number of IAC cycles and intravitreal injections was 3.2(range,3-4)and 6(range,1-14),respectively.The median follow-up time was 29 mo(range,7-36 mo).Treatment success with regression of the retinal tumor and vitreous seeds was achieved in 29 of 30 eyes(96.7%).Globe salvage was attained in 93.3%(28/30)eyes,and enucleation(n=2)was per formed due to neovascular glaucoma and persistent vitreous hemorrhage.Complications included retinal pigment epithelium(RPE)atrophy(n=13;43%),mild lens opacity(n=7;23%),vitreous hemorrhage(n=5;17%)and rhegmatogenous retinal detachment(n=1;3%).No extraocular tumor extension or metastasis occurred.●CONCLUSION:Combined IAC and IVM is effective and safe for the treatment of advanced unilateral retinoblastoma.

Reduction in interhemispheric functional connectivity in the dorsal visual pathway in unilateral acute open globe injury patients: a resting-state fMRI study

This study investigated the changes in interhemispheric functional connectivity （FC） of the whole brain in open globe injury （OGI） patients, using voxel-mirrored homotopic connectivity （VMHC）, and their relationships with clinical features. Totally, 16 male and 2 female acute OGI patients and 18 sex, age, and education-matched healthy volunteers were enrolled in the study. All subjects were scanned through functional magnetic resonance imaging （fMRI）. Receiver operating characteristic （ROC） curves analyses had been used to identify the VMHC in these brain areas could be used as biomarkers to distinguish OGI and from healthy control （HC）. The mean VMHC values in multiple brain areas and clinical OGI manifestations were evaluated with a Pearson correlation analysis. OGI patients had significantly decreased VMHC in the bilateral calcarine/lingual/cuneus （BA18, 19, 30） and middle occipital gyrus （BA18, 19）. The OGI patients had abnormal interhemispheric FC in the dorsal visual pathway, which may represent the pathophysiological mechanism that underlies acute vision loss after OGI.

Unilateral self-locking mechanism for inchworm in-pipe robot

A unilateral self-locking mechanism(USM) was proposed to increase the tractive ability of the inchworm in-pipe robots for pipeline inspection.The USM was basically composed of a cam,a torsional spring and an axis.The self-locking and virtual work principles were applied to studying the basic self-locking condition of the USM.In order to make the cooperation between the crutch and telescopic mechanism more harmonical,the unlocking time of the USM was calculated.A set of parameters were selected to build a virtual model and fabricate a prototype.Both the simulation and performance experiments were carried out in a pipe with a nominal inside diameter of 160 mm.The results show that USM enables the robot to move quickly in one way,and in the other way it helps the robot get self-locking with the pipe wall.The traction of the inchworm robot can rise to 1.2 kN,beyond the limitation of friction of 0.497 kN.