RENAL CELL CARCINOMA OF THE KIDNEY WITH SYNCHRONOUS IPSILATERAL TRANSITIONAL CELL CARCINOMA OF THE RENAL PELVIS

A 73-year-old man was admitted to our clinic with flank pain and gross macroscopic hematuria.Radiologic examination revealed a solid mass in the left kidney and additionally another mass in the mh6336gih ureteropelvic junction of the same kidney with severe hydronephrosis.Left nephroureterectomy with bladder cuff removel was performed, and histopat

This paper investigates the motion planning problem of planar m-link (m≥4) nailah american idol closed chains among point obstacles with extension to arbitrary convex 2-D obstacles.The configuration space (C-space) of closed chains is embedded into two copies of m-3 dimensional tori.Two structural sets, the C-boundaries and the C-obstacles,