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weeks. Postoperative ultrasonography and IVU Case reportrevealed an almost normal left kidney. There was no recurrence of the left flank pain by the 36-month A 7-year-old boy presented with a history of dull pain in the left flank; IVU revealed a large hydronephrotic left follow-up. kidney with a filling defect in the upper ureter. There was no VUR and the diuretic renogram showed a left Comment ureteric obstruction and normal plasma flow in the left kidney. The preoperative diagnosis was left hydroneph-The congenital ureteric valve is relatively rare; only 30 cases have been reported to date (17 males and 13 rosis due to a ureteric polyp. A percutaneous endoscopic resection of the ureteric polyp was planned. Cystoscopy females, age range 10-94 years). Thirteen cases were associated with other congenital abnormalities [1][2][3]. revealed two normal ureteric orifices, and a retrograde pyelogram showed a filling defect of the upper ureter;The valve was on the left side in 16 cases, on the right in 13 and bilateral in one case. Eleven were located in the stenotic part of the ureter was tortuous (Fig. 1). A percutaneous nephrostomy dilated to 15 F was the upper ureter and the remainder in the lower ureter; 16 were annular, 13 were cusp-like and one was not placed through the upper calyx and the filling defect visualized using a multifunctional surgical endoscope described. Of 24 such patients who had undergone surgical treatment, nephrectomy or heminephrectomy (Universaltome, 13.5 F, Takai Co., Japan). The irregularities were not polyps but rather a ureteric valve of an was performed in nine, and 15 were treated with excision and end-to-end anastomosis. In the present case, the iris-like annular shape (Fig. 2). Using a hook-shaped cold knife, a 2 cm cut was made in the dorsal side of the ureteric stenosis was corrected by incision on the dorsal side of the ureter. Endoscopic incision is thought to be a valve until the yellowish peritoneal fat was visible. A 12 F indwelling endopyelotomy stent was used for useful treatment for the ureteric valve.

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We propose a position detection mechanism for locationaware Pin&Play. Though the positions of inserted pins are important for most applications, they could not be detected in previous systems. The proposed method detects the positions of pins by processing images taken with a camera placed in front of the board. The proposed method has a dynamic adjustment mechanism for image processing parameters to achieve higher accuracy even when the surrounding lighting condition changes. Moreover, it also has an error estimation mechanism to avoid the accumulation of position error. We also clarify the effectiveness of our proposed method through performance evaluations.