Multi-instrument magnetic control cooperative operation interventional robot and interventional guide wire

Abstract

The invention discloses a multi-instrument magnetic control cooperative operation interventional robot and an interventional guide wire. The multi-instrument magnetic control cooperative operation interventional robot comprises a contact type interventional instrument operation device and a non-contact type interventional instrument operation device. The contact type interventional instrument operating device comprises a first delivery wheel and a second delivery wheel which are rotationally arranged, a delivery channel suitable for clamping a catheter is formed between the first delivery wheel and the second delivery wheel in a spaced mode, and the first delivery wheel and the second delivery wheel rotate in opposite directions and can deliver the catheter clamped in the delivery channel; the non-contact interventional instrument operating device comprises a magnetic field generator. The interventional guide wire comprises a magnetic guide wire and non-magnetic guide wires connected to the two ends of the magnetic guide wire, and the magnetic field generator is suitable for applying a magnetic field to the magnetic guide wire to drive and deliver the interventional guide wire. Due to the fact that the interventional guide wire is located in the catheter during interventional operation, the contact type interventional instrument and the non-contact type interventional instrument operate at the same time, and simultaneous delivery operation of the catheter and the interventional guide wire can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a multi-instrument magnetically controlled collaborative operation interventional robot and an interventional guidewire. Background Art

[0002] Percutaneous coronary intervention is a conventional method for treating cardiovascular diseases. Compared with traditional open surgery, minimally invasive surgery has significant advantages such as less trauma, rapid recovery, higher safety and fewer complications. However, minimally invasive surgery also has certain limitations. For example, doctors need to be exposed to X-ray radiation during the operation, which not only increases the risk of surgery, but also places higher requirements on the doctor's professional skills and operational accuracy. In addition, the operation lasts for a long time, and the doctor's fatigue may further affect the safety of the operation. Therefore, the use of interventional surgical robots for surgical assistance has become the main means of vascular interventional treatment.

[0003] Remote-controlled master-slave minimally invasive vascular interventional surgery robot-assisted system has become a research hotspot, but due to structural and size limitations, most of the existing interventional robot slaves are unable to achieve coordinated operation of the catheter and the guidewire. Most robot systems start delivering the catheter after the guidewire is delivered to the designated position, and are unable to operate the guidewire during the delivery process, and are unable to treat some complex lesions. There are also some systems that involve the coordinated operation of the catheter and the guidewire. Most of them are achieved by lengthening the interventional robot slave and operating the guidewire through a mechanical device at the tail of the slave. However, this will greatly extend the size of the robot slave, and since the guidewires and catheters suitable for different patients and different positions have different lengths, the universality of this type of robot slave is poor. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is that the remote-controlled master-slave minimally invasive vascular interventional surgical robots in the prior art cannot collaboratively operate the guidewire during the process of delivering the catheter, and since the guidewires and catheters used in different patients and at different positions have different lengths, the general adaptability of the slave end of the robot is poor, thereby providing a multi-instrument magnetically controlled collaboratively operated interventional robot and interventional guidewire.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] A multi-instrument magnetically controlled collaboratively operated interventional robot and an interventional guidewire, the multi-instrument magnetically controlled collaboratively operated interventional robot comprising a mounting plate, a contact-type interventional instrument operating device and a non-contact interventional instrument operating device arranged on the mounting plate;

[0007] The contact-type interventional instrument operating device comprises a first delivery wheel and a second delivery wheel rotatably connected to the mounting plate, a delivery channel suitable for clamping a catheter is formed between the first delivery wheel and the second delivery wheel; the first delivery wheel and the second delivery wheel rotate in opposite directions to deliver the catheter in the delivery channel;

[0008] The non-contact interventional instrument operating device comprises a magnetic field generator;

[0009] The interventional guidewire includes a magnetic guidewire and non-magnetic guidewires connected to both ends of the magnetic guidewire, and the magnetic field generator is suitable for applying a magnetic field to the magnetic guidewire to drive the delivery of the interventional guidewire.

[0010] Furthermore, the first delivery wheel and the second delivery wheel are both rotatably mounted on the mounting plate via rotating shafts, the two rotating shafts are both vertically arranged on the mounting plate, and the first delivery wheel and the second delivery wheel rotate in opposite directions around their own rotating shafts.

[0011] Furthermore, the first delivery wheel and the second delivery wheel can move in a vertical direction around their own rotation axes while rotating, and the first delivery wheel and the second delivery wheel can move vertically in opposite directions.

[0012] Furthermore, the magnetic field generator includes a mechanical arm disposed on the mounting plate and a permanent magnet mounted on the mechanical arm, and the permanent magnet is suitable for applying a variable magnetic field to the magnetic guide wire to drive the interventional guide wire to perform stepping motion.

[0013] Furthermore, a rotating arm is provided on the mounting plate, the rotating axis of the rotating arm is perpendicular to the rotating axis of the first delivery wheel, the mechanical arm is mounted at the end of the rotating arm, and the rotating arm is suitable for driving the mechanical arm to approach or move away from the mounting plate by rotating.

[0014] Furthermore, the robotic arm is provided with a clamp located on one side of the delivery channel, the permanent magnet is arranged on the clamp, and the plane where the N pole and S pole of the permanent magnet intersect is perpendicular to the clamping surface of the clamp.

[0015] Further, the robot arm is suitable for driving the gripper to rotate, and the rotation axis of the gripper is perpendicular to the rotation axis of the first delivery wheel.

[0016] Furthermore, the magnetic guide wire is in a spiral shape, the non-magnetic guide wire is in a straight line, and the axis of the spiral magnetic guide wire and the non-magnetic guide wire are located on the same straight line.

[0017] Furthermore, a first positioning block and a second positioning block are respectively provided at both ends of the mounting plate, and the first positioning block, the second positioning block and the delivery channel are located on the same straight line.

[0018] Furthermore, a placement groove is provided on the first positioning block, and a guide hole is provided on the second positioning block.

[0019] The technical solution of the present invention has the following advantages:

[0020] 1. The multi-instrument magnetically controlled collaboratively operated interventional robot and interventional guidewire provided by the present invention can clamp the catheter or interventional guidewire in the delivery channel through the first delivery wheel and the second delivery wheel, and the first delivery wheel and the second delivery wheel can rotate in opposite directions to deliver the catheter separately; a magnetic field is applied to the magnetic guidewire by a magnetic field generator to generate a magnetic drive, which can drive the entire interventional guidewire to produce step-by-step movement, thereby achieving delivery of the interventional guidewire; the interventional guidewire is located in the catheter during the interventional operation, and by operating the contact interventional instrument and the non-contact interventional instrument at the same time, the catheter and the interventional guidewire can be delivered simultaneously, and there is no need to operate the interventional guidewire separately through additional mechanical devices, so there is no need to extend the size of the robot's slave end, and it can also avoid the situation where the interventional guidewire and catheter lengths used for different patients and different affected areas are different, effectively ensuring universality.

[0021] 2. The multi-instrument magnetically controlled collaboratively operated interventional robot and interventional guidewire provided by the present invention, the first delivery wheel and the second delivery wheel can move in the vertical direction of the axis around their own rotation axis while rotating, and the first delivery wheel and the second delivery wheel move vertically in opposite directions. With such a configuration, the first delivery wheel and the second delivery wheel move up and down, and the movement directions are opposite, which can realize the radial rotation of the catheter, and the first delivery wheel and the second delivery wheel move up and down while rotating, which can make the catheter rotate while delivering, thereby improving the precision and accuracy of catheter advancement and improving the safety of surgery.

[0022] 3. The multi-instrument magnetically controlled collaboratively operated interventional robot and interventional guidewire provided by the present invention are provided with a rotating support arm on the mounting plate, the rotation axis of the rotating support arm is perpendicular to the rotation axis of the first delivery wheel, the mechanical arm is installed at the end of the rotating support arm, and the rotating support arm is suitable for driving the mechanical arm to approach or move away from the mounting plate by rotation. In this way, the mechanical arm can be driven to approach or move away from the mounting plate by the rotation of the rotating support arm, so that the permanent magnet clamped on the mechanical arm can be moved close to or away from the interventional guidewire installed on the mounting plate, and the stepping frequency of the interventional guidewire can be adjusted by controlling the relative distance between the permanent magnet and the interventional guidewire.

[0023] 4. The multi-instrument magnetically controlled collaborative interventional robot and interventional guidewire provided by the present invention, the magnetic guidewire is in a spiral shape, the non-magnetic guidewire is in a straight line, and the axis of the spiral magnetic guidewire and the non-magnetic guidewire are located on the same straight line. This arrangement can make the magnetic guidewire produce spiral steps.

[0024] 5. The multi-instrument magnetically controlled collaborative interventional robot and interventional guidewire provided by the present invention have a first positioning block and a second positioning block respectively disposed at both ends of the mounting plate, and the first positioning block, the second positioning block and the delivery channel are located on the same straight line. With such an arrangement, the catheter or interventional guidewire can be supported by the first positioning block and the second positioning block, thereby ensuring the stability of the catheter and the interventional guidewire during step-by-step intervention.

[0025] 6. The multi-instrument magnetically controlled collaborative interventional robot and interventional guidewire provided by the present invention have a placement slot on the first positioning block and a guide hole on the second positioning block. With such a configuration, the placement slot and the guide hole can be used to limit the position of the catheter and the guide wire during step-by-step intervention, further improving the stability of the catheter and the guide wire during step-by-step intervention and improving the accuracy of intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A three-dimensional structural diagram of a multi-instrument magnetically controlled collaboratively operated interventional robot delivering an interventional guidewire provided by an embodiment of the present invention;

[0028] Figure 2 A three-dimensional structural diagram of a multi-instrument magnetically controlled collaboratively operated interventional robot that simultaneously delivers a catheter and an interventional guidewire provided in an embodiment of the present invention.

[0029] Explanation of the accompanying drawings: 1. Mounting plate; 2. First delivery wheel; 3. Second delivery wheel; 4. First positioning block; 5. Second positioning block; 6. Magnetic guide wire; 7. Non-magnetic guide wire; 8. Robotic arm; 9. Clamp; 10. Permanent magnet; 11. Catheter. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0034] like Figure 1-Figure 2 A multi-instrument magnetically controlled collaboratively operated interventional robot and an interventional guidewire are shown. The multi-instrument magnetically controlled collaboratively operated interventional robot comprises a mounting plate 1, a contact interventional instrument operating device and a non-contact interventional instrument operating device arranged on the mounting plate 1; the contact interventional instrument operating device comprises a first delivery wheel 2 and a second delivery wheel 3 rotatably connected to the mounting plate 1, and a delivery channel suitable for clamping a catheter 11 is formed between the first delivery wheel 2 and the second delivery wheel 3; the first delivery wheel 2 and the second delivery wheel 3 rotate in opposite directions to deliver the catheter 11 located in the delivery channel; the non-contact interventional instrument operating device comprises a magnetic field generator; the interventional guidewire comprises a magnetic guidewire 6 and a non-magnetic guidewire 7 connected to both ends of the magnetic guidewire 6, and the magnetic field generator is suitable for applying a magnetic field to the magnetic guidewire 6 to drive the delivery of the interventional guidewire.

[0035] This multi-instrument magnetically controlled collaborative operation interventional robot and interventional guidewire can clamp the catheter 11 or the interventional guidewire in the delivery channel through the first delivery wheel 2 and the second delivery wheel 3, and the first delivery wheel 2 and the second delivery wheel 3 can rotate in opposite directions to deliver the catheter 11 separately; a magnetic field is applied to the magnetic guidewire 6 by a magnetic field generator to generate a magnetic drive, which can drive the entire interventional guidewire to produce step-by-step movement, thereby achieving delivery of the interventional guidewire; the interventional guidewire is located in the catheter 11 during the interventional operation, and by operating the contact interventional instrument and the non-contact interventional instrument at the same time, the catheter 11 and the interventional guidewire can be delivered simultaneously, and there is no need to use additional mechanical devices to operate the interventional guidewire separately, so there is no need to extend the size of the robot end, and it can also avoid the situation where the interventional guidewire and the catheter 11 used for different patients and different affected areas have different lengths, effectively ensuring universality.

[0036] In this embodiment, the first positioning block 4 and the second positioning block 5 are respectively disposed at both ends of the mounting plate 1, and the first positioning block 4, the second positioning block 5 and the delivery channel are located on the same straight line. In this way, the catheter 11 or the interventional guide wire can be positioned and supported by the first positioning block 4 and the second positioning block 5, thereby ensuring the stability of the catheter 11 and the interventional guide wire during step-by-step intervention.

[0037] Specifically, a placement slot is provided on the first positioning block 4, and a guide hole is provided on the second positioning block 5. In this way, the placement slot and the guide hole can be used to limit and guide the catheter 11 and the guide wire during step-by-step intervention, further improving the stability of the catheter 11 and the guide wire during step-by-step intervention and improving the accuracy of intervention.

[0038] In this embodiment, the first delivery wheel 2 and the second delivery wheel 3 are both rotatably mounted on the mounting plate 1 via a rotating shaft, and the first delivery wheel 2 and the second delivery wheel 3 are both arranged close to the first positioning block 4, and the two rotating shafts are both vertically arranged on the mounting plate 1. The first delivery wheel 2 and the second delivery wheel 3 rotate in opposite directions around their own rotating shafts, thereby driving the catheter 11 clamped between the first delivery wheel 2 and the second delivery wheel 3 to move in a direction away from the first positioning block 4.

[0039] Specifically, the first delivery wheel 2 and the second delivery wheel 3 can move vertically along the axis around their own rotation axes while rotating, and the first delivery wheel 2 and the second delivery wheel 3 move vertically in opposite directions, that is, when the first delivery wheel 2 keeps moving vertically upward, the second delivery wheel 3 keeps moving vertically downward; when the first delivery wheel 2 keeps moving vertically downward, the second delivery wheel 3 keeps moving vertically upward. With such an arrangement, the first delivery wheel 2 and the second delivery wheel 3 move up and down, and the movement directions are opposite, so that the catheter 11 can be rotated radially, and the first delivery wheel 2 and the second delivery wheel 3 move up and down while rotating, so that the catheter 11 can be rotated while being delivered, thereby improving the precision and accuracy of the advancement of the catheter 11 and improving the safety of the operation.

[0040] In this embodiment, the magnetic field generator includes a mechanical arm 8 disposed on the mounting plate 1 and a permanent magnet 10 mounted on the mechanical arm 8. The permanent magnet 10 is suitable for applying a variable magnetic field to the magnetic guide wire 6 to drive the interventional guide wire to perform stepping motion.

[0041] In this embodiment, a rotating arm is provided on the mounting plate 1, and the rotation axis of the rotating arm is perpendicular to the rotation axis of the first delivery wheel 2. The mechanical arm 8 is installed at the end of the rotating arm, and the rotating arm is suitable for driving the mechanical arm 8 to approach or move away from the mounting plate 1 by rotation. In this way, the mechanical arm 8 is driven to approach or move away from the mounting plate 1 by the rotation of the rotating arm, so that the permanent magnet 10 clamped on the mechanical arm 8 can be made to approach or move away from the interventional guide wire installed on the mounting plate 1, and the stepping frequency of the interventional guide wire can be adjusted by controlling the relative distance between the permanent magnet 10 and the interventional guide wire.

[0042] In this embodiment, the mechanical arm 8 is provided with a clamp 9 located at one side of the delivery channel, and the permanent magnet 10 is provided on the clamp 9, and the plane where the N pole and the S pole of the permanent magnet 10 intersect is perpendicular to the clamping surface of the clamp 9. Specifically, the mechanical arm 8 is suitable for driving the clamp 9 to rotate, and the rotation axis of the clamp 9 is perpendicular to the rotation axis of the first delivery wheel 2.

[0043] In this embodiment, the magnetic wire 6 is in a spiral shape, and the non-magnetic wire 7 is in a straight line. The axis of the spiral magnetic wire 6 is located on the same straight line as the non-magnetic wire 7. This arrangement allows the magnetic wire 6 to produce spiral steps. The magnetic spiral segment of the magnetic wire 6 is formed by a fibrous polymer in the shape of a thread, and the direction of the magnetic field applied during magnetization is parallel to the central axis of the spiral segment; a spiral magnetic field is applied to the magnetic wire 6 by a permanent magnet 10, so that the central axis of the spiral magnetic field is parallel to the magnetic field direction of the magnetic spiral segment, which can cause the magnetic spiral segment to produce spiral steps.

[0044] In this embodiment, the preparation method of the magnetic guide wire 6 includes the following steps:

[0045] (1) mixing and stirring the polymer and magnetic particles, and adding a curing agent to obtain a composite;

[0046] (2) The composite is wrapped with polyimide as a sacrificial layer material and injected into a TPU mold to obtain a straight fiber guide wire;

[0047] (3) magnetizing the formed straight fiber guide wire along the axial direction to obtain a magnetic guide wire;

[0048] (4) Winding the magnetic wire in a spiral shape on a heat-conducting rod and heating and curing;

[0049] (5) After curing, a biocompatible curing agent and a polymer are applied along the surface of the magnetic conductive wire, and the magnetic conductive wire is dried to obtain the magnetic conductive wire.

[0050] Specifically, the polymer is made of one or more of silicone rubber, acrylic rubber, polyurethane polymer, nylon polymer, and styrene copolymer. The material of the magnetic particles is one or more of neodymium iron boron (NdFeB), samarium cobalt (SmCo), iron platinum alloy (FePt), iron cobalt alloy (FeCo), and nickel iron alloy (FeNi).

[0051] In summary, this multi-instrument magnetically controlled collaborative operation interventional robot and interventional guidewire can clamp the catheter 11 or the interventional guidewire in the delivery channel through the first delivery wheel 2 and the second delivery wheel 3, and the first delivery wheel 2 and the second delivery wheel 3 rotate in opposite directions to deliver the catheter 11 separately; a magnetic field is applied to the magnetic guidewire 6 by a magnetic field generator to generate a magnetic drive, which can drive the entire interventional guidewire to produce step-by-step movement, thereby achieving delivery of the interventional guidewire; the interventional guidewire is located in the catheter 11 during the interventional operation, and by operating the contact interventional instrument and the non-contact interventional instrument at the same time, the simultaneous delivery operation of the catheter 11 and the interventional guidewire can be achieved, and there is no need to use an additional mechanical device to operate the interventional guidewire separately, so there is no need to extend the size of the robot end, and it can also avoid the situation where the interventional guidewire and the catheter 11 used for different patients and different affected areas have different lengths, effectively ensuring universality.

[0052] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A multi-instrument magnetically controlled collaborative operation interventional robot and interventional guidewire, characterized in that: The multi-instrument magnetically controlled collaboratively operated interventional robot comprises a mounting plate (1), a contact-type interventional instrument operating device and a non-contact interventional instrument operating device arranged on the mounting plate (1); The contact-type interventional instrument operating device comprises a first delivery wheel (2) and a second delivery wheel (3) rotatably connected to the mounting plate (1); a delivery channel suitable for clamping a catheter (11) is formed between the first delivery wheel (2) and the second delivery wheel (3); the first delivery wheel (2) and the second delivery wheel (3) rotate in opposite directions to deliver the catheter (11) located in the delivery channel; The non-contact interventional instrument operating device comprises a magnetic field generator; The interventional guidewire comprises a magnetic guidewire (6) and non-magnetic guidewires (7) connected to both ends of the magnetic guidewire (6), and the magnetic field generator is suitable for applying a magnetic field to the magnetic guidewire (6) to drive the delivery of the interventional guidewire.

2. The multi-instrument magnetically controlled collaborative interventional robot and interventional guidewire according to claim 1, characterized in that: The first delivery wheel (2) and the second delivery wheel (3) are both rotatably mounted on the mounting plate (1) via a rotating shaft, and the two rotating shafts are both vertically arranged on the mounting plate (1). The first delivery wheel (2) and the second delivery wheel (3) rotate in opposite directions around their own rotating shafts.

3. The multi-instrument magnetically controlled collaborative operation interventional robot and interventional guidewire according to claim 2, characterized in that: The first delivery wheel (2) and the second delivery wheel (3) can move vertically around their own rotation axes while rotating, and the first delivery wheel (2) and the second delivery wheel (3) can move vertically in opposite directions.

4. The multi-instrument magnetically controlled collaborative interventional robot and interventional guidewire according to claim 1, characterized in that: The magnetic field generator comprises a mechanical arm (8) arranged on the mounting plate (1) and a permanent magnet (10) mounted on the mechanical arm (8), wherein the permanent magnet (10) is suitable for applying a variable magnetic field to the magnetic guide wire (6) to drive the interventional guide wire to perform stepping motion.

5. The multi-instrument magnetically controlled collaborative interventional robot and interventional guidewire according to claim 4, characterized in that: The mounting plate (1) is provided with a rotating arm, the rotating axis of the rotating arm being perpendicular to the rotating axis of the first delivery wheel (2), the mechanical arm (8) being mounted at the end of the rotating arm, the rotating arm being suitable for driving the mechanical arm (8) to move closer to or away from the mounting plate (1) by rotating.

6. The multi-instrument magnetically controlled collaborative interventional robot and interventional guidewire according to claim 4, characterized in that: The robotic arm (8) is provided with a clamp (9) located on one side of the delivery channel, the permanent magnet (10) is arranged on the clamp (9), and the plane where the N pole and S pole of the permanent magnet (10) intersect is perpendicular to the clamping surface of the clamp (9).

7. The multi-instrument magnetically controlled collaborative interventional robot and interventional guidewire according to claim 6, characterized in that: The robot arm (8) is suitable for driving the gripper (9) to rotate, and the rotation axis of the gripper (9) is perpendicular to the rotation axis of the first delivery wheel (2).

8. The multi-instrument magnetically controlled collaborative interventional robot and interventional guidewire according to claim 7, characterized in that: The magnetic guide wire (6) is in a spiral shape, the non-magnetic guide wire (7) is in a straight line, and the axis of the spiral magnetic guide wire (6) and the non-magnetic guide wire (7) are located on the same straight line.

9. The multi-instrument magnetically controlled collaborative interventional robot and interventional guidewire according to claim 1, characterized in that: A first positioning block (4) and a second positioning block (5) are respectively provided at both ends of the mounting plate (1); the first positioning block (4), the second positioning block (5) and the delivery channel are located on the same straight line.

10. The multi-instrument magnetically controlled collaborative interventional robot and interventional guidewire according to claim 9, characterized in that: The first positioning block (4) is provided with a placement groove, and the second positioning block (5) is provided with a guide hole.

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