DE202014007876U1 - Mobile carrier system - Google Patents

Abstract

Mobile support system having a foot part (12) which is arranged on at least three rolling elements (13, 14, 33, 34), a support frame (15) connected to the foot part (12) and to which an optical device (20) is attached, wherein the at least three rolling elements (13, 14, 33, 34) in each case about a substantially vertical axis (23) and about a substantially horizontal axis (27) are rotatably mounted, characterized in that the carrier system has a control unit (32) which is designed to control at least one of the rolling elements, so that the rolling element changes from a first roll state to a second roll state.

Description

The present invention relates to a mobile carrier system for an optical device, in particular for a surgical microscope. The carrier system comprises a foot part, which is arranged on three or more rolling elements. Connected to the foot part is a support frame to which an optical device is attached. The rolling elements are each mounted for rotation about a substantially vertical axis and about a substantially horizontal axis.

Such carrier systems are used to convey and align the optical device in a simple manner. In order to use the overall system flexibly, the carrier system is often arranged on rolling elements. The attached to the carrier system optical device can then be pushed into an operating room and used there for an operation and then used in other operating rooms for further operations. The rolling elements should allow both easy transport over longer distances and easy positioning of the carrier system shortly before and during the operation. In addition, the carrier system should be securely in place during the operation or during storage. Often, the total weight of the systems is very high, since despite a high range of the carrier system must be guaranteed at all times tipping security.

It is known to provide carrier systems for optical devices with parking brakes for the rolling elements. With the aid of the parking brakes, a rotation of the rolling elements can be locked both about the horizontal axis and about the vertical axis of the rolling elements, so that the carrier system can not be moved further. The operation of the parking brakes is often cumbersome and time consuming.

Against this background, it is the object of the present invention to provide a support system for optical devices, which is more user-friendly. This object is achieved with the features of claim 1. Preferred embodiments are the subject of the dependent claims and the following description.

According to the invention, the carrier system has an electronic control unit, which is designed to control at least one of the rollers, so that the roller changes from a first reel condition to a second reel condition. The control unit is preferably designed to switch the carrier system into a stationary state, a positioning state and a transport state. In the stationary state, the horizontal axis of at least one of the rolling elements is locked. In the positioning state, the horizontal and vertical axes of the rolling elements are free. In the transport state, the horizontal axes of the rolling elements are free and the vertical axis of at least one rolling element is locked.

First, some terms used in the invention will be explained.

Under a stereoscopic observation channel of a microscope is understood that the observation channel of the microscope is divided into at least two beam paths to allow a stereoscopic view of the object plane. Some surgical microscopes also provide several such pairs of observation channels.

If an axle of a rolling element is locked, this means that the rolling element can no longer be turned or swiveled about this axis. Blocking is further understood to mean that the locked axle is locked either in the position it is in during the locking operation, or that the locking action activates a locking member which locks the axle in a preferred position, such as the one shown in FIG Axis angles 0 ° and 180 °, so that the axis is locked in a position above the preferred position in this position. Furthermore, in the case of a lock, the axle can be rotated automatically, such as by a motor, until it is locked in the preferred position.

Under blocking is also to be understood that the rolling element in any or as described above preferred position is not locked - characterized by a positive connection - but is braked by a force or frictional connection.

When an axle is free, the rolling element can be freely rotated or pivoted about this axis. The carrier system comprises actuators, which are controlled by the control unit and are changed over between the respective states of the axes. The actuators may include, for example, electrical locking or braking elements for blocking the vertical and / or horizontal axes of the rolling elements. The term "control unit" may in the following mean both a central control unit, for example a populated printed circuit board with a microprocessor, as well as a plurality of control elements which need not be locally attached to a common position of the carrier unit and take on partial functions of the entire "control unit". Included in this explicitly without excluding other are printed circuit boards, microprocessors and sensor elements. Likewise, it is preferred that by the Control unit triggered switching operations can be triggered both by integrated in the control unit and by a user interaction via a user interface.

With a user interface, both a central control surface, such as a touchscreen may be meant, as well as a variety of individual controls z. As touch elements, touch screen or the like. In particular, it can be provided that the user interface contains at least one complex operating element, for example a touchscreen, and at least one simple operating element contains, for example, a feeler element. The complex operating element can be provided in particular for making presettings on the system and for performing less frequently used operating functions. The simple operating element can preferably be used to operate or trigger more frequent or more likely operating functions during everyday use of the system. The control unit is designed to switch the carrier system into various states, wherein a switching operation can affect the rotatability or pivotability of the rolling elements about their horizontal and / or vertical axes. By controlling the rolling elements via the control unit, the possibility is opened up that the user can set, by a single input, certain combinations of states of the rolling elements which correspond to certain requirements of the user. This is comfortable for the user and increases patient safety and the safety of others.

First, the control unit is configured to switch the carrier system to a stationary state in which the horizontal axis of at least one of the rolling elements is locked. If the horizontal axis of a rolling element is locked, the carrier system can not be moved. A user can therefore select the steady state state when the carrier system is in a position favorable for the operation or when it is parked for storage. It can be locked in the stationary state, the horizontal axes of a plurality of rolling elements. In a preferred embodiment, in the stationary state, the horizontal axes of each of the rolling elements are locked. This ensures a particularly secure state of the carrier system. In addition, it can be provided that in the stationary state, the vertical axes of one or more of the rolling elements are locked.

Furthermore, the control unit is configured to switch the carrier system to a positioning state in which the horizontal and vertical axes of the rolling elements are free. A user can select the positioning state if maximum freedom of movement is desired. This may in particular be the case when the carrier system is already in an operating room in front of an operating table, but still a fine positioning of the carrier system relative to the operating table or to the surgical field should take place. Due to the free rotation of the rolling elements both about the horizontal and about the vertical axes, the carrier system can easily be moved and / or rotated in the Positionierzustand in any direction, so that the desired final position can be easily achieved.

Finally, the control unit is configured to switch the carrier system to a transport state in which the horizontal axes of the rolling elements are free and the vertical axis of at least one of the rolling elements is locked. The transport state is particularly suitable for moving the carrier system along a straight line and along curves. If - unlike the transport state proposed here - both the horizontal and the vertical axes of all rolling elements are free, it may be due to the high total weight of the system and the associated inertia happen that the carrier unit does not follow the desired curve, but continue straight ahead. In particular, lighter persons can then handle the system only with difficulty and dangerous collisions can occur. If, however, according to the transport state according to the invention, the horizontal axes of the rolling elements are free and the vertical axis of the at least one rolling element blocked, a preferred running direction is predetermined by the at least one rolling element with the locked vertical axis. Along the direction of travel, the carrier system can then be moved safely even on sloping surfaces, without causing a rotation of the carrier system about its own axis or unwanted changes in direction. In particular when cornering the rolling element with the locked vertical axis prevents unwanted straight ahead driving of the carrier system and thus allows a safe desired change in direction along a curve. Preferably, the rolling element is arranged with the locked vertical axis in the direction of displacement at the front. In particular, the front end of the carrier system facing away from a push handle may denote the direction of travel intended by the user.

Regularly, it is sufficient if the vertical axis of exactly one rolling element is locked in the transport state. It is not excluded that in the transport state, the vertical axes are blocked by a plurality of rolling elements. In this case, the running direction of the rolling elements with locked vertical axis preferably in the same direction. When the vertical axis is locked, the rolling elements are preferably in the 0 ° or 180 ° position relative to the intended direction of travel.

In a preferred embodiment, the control unit has a user interface, via which the state of the carrier system can be selected. Furthermore, it is preferably freely selectable via the user interface, which of the rolling elements in the transport state have a locked vertical axis. The user can then select, for example, those rolling elements which are already arranged in front with respect to a planned direction of displacement.

It may be provided that the carrier system and / or the optical device has a network connection for connection to an external power network. A port sensor may be designed to determine whether or not there is a connection to the external power grid. The state in which there is a connection to the power grid is referred to as network operation, the state in which there is no connection to the power grid is referred to as network-free operation. The connection sensor is preferably configured to send a network connection signal to the control unit. The control unit can be designed to take into account the mains connection signal when changing between the transport state, the positioning state and the stationary state.

The control unit may be arranged so that the transport state is not provided preferably when connected to the power grid. In particular, the control unit can be set up such that only the positioning state and the stationary state are available to the user via an additional, particularly easy-to-use operating element, such as a pushbutton (in the following: "simple operating element"). A transport over longer distances is regularly excluded, if a connection to the power network is given. The carrier system with the optical device is then regularly in the operating room, so that a fine positioning is much more likely.

Additionally or alternatively, the control unit may be arranged so that the positioning state is not preferably available when there is no connection to the power grid. In particular, the control unit can be set up so that only the transport state and the stationary state are available to the user via a simple operating element. Without grid connection, no fine positioning is required on a regular basis, but transport over longer distances is more likely. Preferably, the carrier system comprises a network-independent energy source, for example a rechargeable battery, for power supply in mains-free operation. Furthermore, the system can be set up in such a way that the positioning state is not preferably available in network-free operation, but is prevented by a separate user interaction, for example by a user. B. by a more complex control or a more complex operating function, such as a long press a control or pressing several controls can be called.

Preferably, the carrier system has a sensor element, which is configured to send a signal to the control unit, with which the control unit is informed about whether the carrier system moves relative to the ground. This sensor element can be designed, for example, as an acceleration or as a speed sensor. It can be integrated at any location of the carrier unit. The sensor element may also be integrated, for example as a rotationally detecting unit in a tripod roller, for example as an angle sensor. Also, the sensor element can be used to determine a speed of the carrier unit relative to the ground. Even if the sensor does not measure velocity relative to the ground, it may be determined from the sensor reading and other known quantities. If the sensor element detects, for example, the rotation of a roll or its angular velocity, the desired speed can be determined by the combination with the known size of the roll diameter.

Therefore, terms such as "measure carrier unit relative to ground" or "detect carrier unit movement relative to ground" include all of these possibilities.

The control unit may be configured to switch the carrier system to the stationary state if the carrier system has not been moved over an adjustable period of, for example, at least 10 seconds. The automatic switch to steady state serves both safety and ease of use.

The control unit may be further configured not to switch the carrier system to the stationary state when the carrier system is in motion. If the horizontal axis of the rolling elements a latching - characterized by positive locking in the locked position - includes, so an abrupt braking of the carrier unit can be prevented, which could lead to defective rolling elements and at worst to tilting of the carrier unit.

The control unit may be further configured to switch the carrier system to a decelerating state when the carrier system is in motion and a particular user interaction is occurring or absent. For example, the user can press a button while driving to quickly bring the carrier unit to a halt or - comparable to a so-called Totmanneinrichtung - he fails to keep an operating element active. If the horizontal axis of the rolling elements a braking function - characterized by traction - includes, so the carrier unit can be brought to a safe stop without risk of tipping.

At least one of the rolling elements may be configured such that the rotation about its substantially horizontal axis can be performed by, for example, a motor or assisted. The control unit preferably controls the drive depending on the respective state of the carrier unit. In the transport state, the drive can serve as a support for pushing the system. Preferably, at least one roller is driven, which is locked in the transport state in its vertical axis. It is conceivable that the motor is switched by a user control element in the transport state. This control element can be operated for example by pressure on the push bar of the carrier unit or attached as a further control element in the vicinity of the handlebar. By actuating the operating element, the motor drive can be switched on and off. Preferably, by the operating element, for example, by stronger pressure on the handlebar also be determined how much or how fast the drive should drive the axis of the rolling element comparable to, for example, an accelerator pedal in the car. Likewise, the drive can be set so that it drives the role only until a limit speed is exceeded.

In another embodiment, the drive is activated by the control unit as soon as a speed sensor detects a movement of the stand relative to the ground or detects a movement of one of the rolling elements. In another embodiment, the motor is added only when an adjustable limit speed of the system is exceeded relative to the ground or when an adjustable critical angular velocity of the roll is exceeded.

In the positioning state, the drive can be used for fine positioning of the system. For example, a user can control the drive and the drive direction via a control element such as a joystick. For this purpose, it is advantageous if the substantially vertical axis of the rolling element can be driven.

The rolling elements can be designed so that all role conditions are individually adjustable on each rolling element via a mechanical control element, so that even in case of failure of the electronic control unit basic operability is maintained.

In a preferred embodiment, the carrier system comprises four rolling elements, which are further preferably arranged so that they essentially form a rectangle. Embodiments with more than 4 rolling elements are also included.

Hereinafter, a preferred embodiment of the present invention will be described by way of example with reference to the accompanying drawings. Show it:

1a a side view of a carrier system according to the invention;

1b a side view of an alternative embodiment of a carrier system according to the invention;

2 a side sectional view of a rolling element according to the invention;

3 : A schematic diagram showing some components of the carrier system according to the invention.

1a and 1b show a carrier system according to the invention in a side view. The carrier system comprises a foot part 12 which is arranged on four rolling elements. In the side view, only the two rolling elements 13 and 14 recognizable. With the foot part 12 connected is a support frame 15 , which consists of a plurality of frame sections 16 . 17 . 18 . 19 is composed. At the frame section 19 is a surgical microscope 20 attached.

To align the surgical microscope 20 relative to the foot part 12 the carrier system has a plurality of pivot joints 21 . 22 . 23 . 24 . 25 on. The carrier system can be connected via a mains connection 35 be connected to an external power supply, not shown. The carrier system also includes an in 1a and 1b not shown control unit and a user interface, not shown.

2 shows a rolling element according to the invention 13 in a side sectional view. The rolling element 13 includes a role 28 , which are about a horizontal axis 27 is rotatable. The axis 27 is perpendicular to the plane of the drawing 2 , The rolling element 13 is also about the vertical axis 29 rotatable. A brake element 30 serves to block the rolling element 13 around the horizontal axis 27 , Furthermore, the rolling element 13 a brake element 31 for the vertical axis 29 on. The brake elements 30 and 31 are indicated only schematically in Figure two. Other embodiments of the brake elements are conceivable.

3 shows a schematic diagram of the carrier system according to the invention. The carrier system has a control unit 32 which is configured to switch the carrier system to a stationary state, a positioning state and a transport state. The control unit 32 sends control commands to the rolling elements 13 . 14 . 33 . 34 , If the carrier system is switched to the stationary state, for example, the control unit sends 32 a control command to the brake elements 30 and 31 of the rolling element 13 , The control command causes the braking elements 30 . 31 to that, in 2 shown horizontal axis 27 as well as the vertical axis 29 to lock. Likewise, control commands to the rolling elements 14 . 33 and 34 Posted. The control commands cause there arranged brake elements 38 to 43 in a manner analogous to the blocking of the horizontal and vertical axes of the rolling elements (not shown) 13 . 33 and 34 , Both the vertical and horizontal axes of the rolling elements 13 . 14 . 33 . 34 are then locked so that the carrier system can no longer be moved.

In steady state, the horizontal axes of all rolling elements 13 . 14 . 33 . 34 blocked. In the positioning state, both the horizontal axes and the vertical axes of all roller elements 13 . 14 . 33 . 34 free. In transport, the horizontal axes of all rolling elements 13 . 14 . 33 . 34 free. The vertical axis of a rolling element is locked, the vertical axes of the other rolling elements are free.

With the control unit 32 is also a user interface 26 connected. About the user interface 26 the user can use the control unit 32 serve. If the user wishes, he can do so via the user interface 26 select the state of the carrier system, or select, for example, in the transport state, which of the rolling elements 13 . 14 . 33 . 34 should have a locked vertical axis.

The control unit 32 is also connected to the power outlet 35 connected. In network operation, the control unit 32 via the mains connection 35 energized. In grid-free operation, the control unit 32 via an accumulator 37 energized. The control unit 32 also has a power supply sensor 36 on, which determines whether the carrier system is connected to the (not shown) external power system or not, ie whether it is in network operation or in grid-free operation.

When the carrier system is in network operation, the power supply sensor sends 36 a corresponding signal to the control unit 32 , The carrier system can then via one on the user interface 26 arranged buttons 26 ' be switched between the stationary state and the positioning state.

If the carrier system is in grid-free mode, the grid connection sensor sends 36 a corresponding second signal to the control unit 32 , The carrier system can then via the button 26 ' be switched between the stationary state and the transport state.

Finally, the carrier system has a motion or acceleration sensor 44 on, which also with the control unit 32 connected is. If the motion sensor detects no movement of the carrier system over a longer period of time, it sends a corresponding signal to the control unit 32 , The control unit 32 then sends control commands to the rolling elements 13 . 14 . 33 . 34 to switch it to the stationary state

Claims (43)

Mobile carrier system with a foot part ( 12 ), which on at least three rolling elements ( 13 . 14 . 33 . 34 ), one with the foot part ( 12 ) connected support frame ( 15 ) on which an optical device ( 20 ), wherein the at least three rolling elements ( 13 . 14 . 33 . 34 ) each about a substantially vertical axis ( 23 ) and about a substantially horizontal axis ( 27 ) are rotatably mounted, characterized in that the carrier system comprises a control unit ( 32 ) which is adapted to drive at least one of the rolling elements, so that the rolling element changes from a first roll state to a second roll state. A carrier system according to claim 1, characterized in that the control unit is adapted to switch the carrier system in a stationary state, a positioning state and a transport state, wherein in the stationary state, the horizontal axis ( 27 ) of at least one rolling element ( 13 ) is locked, whereby in the positioning state the horizontal ( 27 ) and vertical ( 29 ) Axes of the at least three rolling elements ( 13 . 14 . 33 . 34 ) are free, and wherein in the transport state, the horizontal axes ( 27 ) of the at least three rolling elements ( 13 . 14 . 33 . 34 ) are free and the vertical axis ( 29 ) of at least one rolling element ( 13 ) Is blocked. Support system according to claim 2, characterized in that in the stationary state, the horizontal axis ( 27 ) each of the at least three rolling elements ( 13 . 14 . 33 . 34 ) Is blocked. Carrier system according to one of claims 1 to 3, characterized in that via the control unit ( 32 ), which of the at least three rolling elements ( 13 . 14 . 33 . 34 ) in the transport state a locked vertical axis ( 29 ) exhibit. Carrier system according to one of claims 1 to 4, characterized in that the carrier system and / or the optical device further comprise a network connection ( 35 ) for connection to an external power supply and a connection sensor ( 36 ) to determine whether there is a connection to the mains, the terminal sensor ( 36 ) is adapted to supply a mains connection signal to the control unit ( 32 ) and the control unit ( 32 ) is designed to take into account the mains connection signal when changing between transport state, positioning state and stationary state. Support system according to claim 5, characterized in that the control unit ( 32 ) is arranged so that the transport state is not preferably available when connected to the power grid, A carrier system according to claim 5 or 6, characterized in that the positioning state is not preferably available when there is no connection to the power grid. Carrier system according to one of claims 1 to 7, characterized in that the carrier system comprises a motion sensor ( 44 ), which is configured to send a motion signal to the control unit ( 32 ), the control unit ( 32 ) is configured to switch the carrier system to the stationary state if the carrier system has not been moved for an adjustable period of time. Support system according to claim 11, characterized in that a network-independent energy source is provided. Surgical microscope system comprising a mobile carrier unit and a surgical microscope with at least one stereoscopic viewing channel for imaging an object plane and at least one light source and at least one suitable illumination optics for illuminating the object plane with at least three rollers each having a substantially horizontal axis of rotation and a substantially vertical axis of rotation characterized in that at least one of these rollers can be brought into at least two different pulley conditions via an electronic control unit. Surgical microscope system according to claim 10, characterized by at least one mains-independent power source for operating an electronic control unit Surgical microscope system according to claim 10 or 11, characterized in that in one of the at least two different role conditions, the respective role about the substantially horizontal axis of rotation and the substantially vertical axis of rotation is freely movable, hereinafter referred to as "role condition free". Surgical microscope system according to claim 10, characterized in that in one of the at least two different role conditions, the respective roller about the substantially horizontal axis of rotation is freely movable and the respective roller is locked to the substantially vertical axis of rotation, hereinafter referred to as "role condition direction bound". Surgical microscope system according to claim 10, characterized in that in one of the at least two different role conditions, the respective roller is braked about the substantially horizontal axis of rotation, hereinafter referred to as "roller condition braked". Surgical microscope system according to claim 14, characterized in that the substantially horizontal axis of rotation is braked by a positive connection. Surgical microscope system according to claim 14, characterized in that the substantially horizontal axis of rotation is braked by a frictional / frictional connection. The surgical microscope system according to any one of claims 10 to 16, characterized in that there is a state in which each of the at least three rollers of the carrier unit is in the "roll state free", hereinafter referred to as "carrier unit state positioning". Surgical microscope system according to one of claims 10 to 17, characterized in that there is a state in which at least one, preferably two, more preferably all of the at least three rollers of the carrier unit is in the "roller condition braked", hereinafter referred to as "carrier unit state stationary" designated. Surgical microscope system according to claim 18, characterized in that in the "carrier unit state stationary" further at least one, preferably two, more preferably all substantially vertical axes of the at least three rollers of the carrier unit are locked. The surgical microscope system according to any one of claims 10 to 19, characterized in that there is a state in which at least one of the at least three rollers of the carrier unit is in the "roll condition directional", hereinafter referred to as "carrier unit state transportation". Surgical microscope system according to claim 20, characterized in that it can be preset, which of the at least three rollers of the carrier unit in the "carrier unit state transport" is / are located in the "roll state direction-bound". A surgical microscope system according to any one of claims 10 to 21, characterized in that the system includes a control over which a user can activate one or more of the stationary, positioning or transporting unit states. Surgical microscope system according to claim 10, characterized in that the electronic control unit detects whether the surgical microscope system is connected to the power grid ("network operation") or whether the surgical microscope system is not connected to the mains ("grid-free operation"). Surgical microscope system according to claim 10, characterized in that the electronic control unit detects whether the carrier unit is moved or accelerated relative to the ground. Surgical microscope system according to claim 24, characterized in that the relative speed to the ground is measured. Surgical microscope system according to claim 22 or 23, characterized in that an operation of the simple control element has different effects, depending on whether the system is in "network operation" or in "grid-free operation". A surgical microscope system according to claim 26, characterized in that by operating the simple control element in network operation, the carrier unit between the states "carrier unit state stationary" and "carrier unit state positioning" back and forth. The surgical microscope system according to claim 26, characterized in that the carrier unit between the states "carrier unit stationary state" and "carrier unit state Transport" reciprocated by actuation of the operating element in the simple network free operation and is hergeschaltet. Operation microscope system according to claim 22 or 23, characterized in that an operation of the simple control element has different effects, depending on whether the system moves relative to the ground. Operation microscope system according to claim 22 or 23, characterized in that an operation of the simple control element has different effects, depending on whether the system is moving at a speed greater than a preset limit speed relative to the ground. The surgical microscope system according to claim 30, characterized in that the "carrier unit state stationary" is not turned on when the system or the roller is moved. A surgical microscope system according to claim 31, characterized in that the "steady-state carrier unit state" is not turned on when the system or roller is moved at a higher speed or angular velocity than the preset limit speed or critical angular velocity. Surgical microscope system according to claim 32, characterized in that the "carrier unit state stationary" is turned on upon actuation of the simple operating element during movement of the system or the roller as soon as the system or the roller is no longer moving. Operation microscope system according to claim 33, characterized in that the "carrier unit state stationary" on actuation of the simple control element during movement of the system or the roller which exceeds the limit speed or the Grenzwinkelgeschwindigkeit is turned on as soon as the limit speed or the Grenzwinkelgeschwindigkeit is exceeded. Surgical microscope system according to one of claims 10 to 34, characterized in that the control unit automatically switches the carrier unit in the "carrier unit state stationary" if the system or the roller for a certain time, preferably 30 s, more preferably 20 s, most preferably 10 s is not moved. Operation microscope system according to one of claims 10 to 35, characterized in that the time after which the "carrier unit state stationary" is activated, is presettable. Surgical microscope system according to one of claims 10 to 36, characterized in that at least one roller in at least its substantially horizontal axis of rotation can be driven by an integrated motor element. Operation microscope system according to one of claims 10 to 37, characterized in that the integrated motor element can be activated via a control element when the system is in the "carrier unit state transport". Surgical microscope system according to claim 38, characterized in that on the control element and the speed of the drive can be controlled. Surgical microscope system according to claim 39, characterized in that the drive is available only up to a preset limit speed. A surgical microscope system according to any one of claims 10 to 40, characterized in that the integrated motor element is activated by the control unit when the system is in the "carrier unit state transport" and movement of the system relative to the ground or movement of the roller is detected. The surgical microscope system according to any one of claims 10 to 41, characterized in that the integrated motor element is activated by the control unit when the system is in the "carrier unit state transportation" and movement of the system relative to the ground or movement of the roller is detected previously set limit speed relative to the ground or angular speed limit of the roller exceeds. Surgical microscope system according to claim 37, characterized in that both axes of rotation of the roller can be driven by an integrated motor element in the "carrier unit state positioning" via an operating element.

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