JP2006136412A - Endoscope inserting shape detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endoscope inserting shape detector easy to use capable of easily setting a sense coil at the optimal position for detecting the shape of an endoscope inserting portion. <P>SOLUTION: The endoscope inserting shape detector has sense coil unit 4 where a plurality of sense coils 5 for detecting a magnetic field output from a source coil arranged in an endoscope inserting section and a mainframe 2 having a calculating controlling section receiving signals detected by the sense coils 5 and calculating the shape of the endoscope inserting section, and the sense coil unit 4 is separated from the mainframe 2 and arranged at the position independent from a subject. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an endoscope insertion shape detection device capable of detecting an insertion shape of an endoscope insertion portion from the outside.

  In general, endoscopes are widely used not only for medical purposes but also for industrial purposes. For example, in a medical endoscope, an elongated and flexible insertion part is inserted into a body cavity to observe a test part or perform a necessary treatment through a treatment instrument insertion channel.

  By the way, the body cavity has a bent shape instead of a linear shape as typified by the large intestine and the small intestine, and the operator can locate the distal end of the endoscope insertion portion inserted into the body cavity. It is difficult to grasp the shape of the endoscope insertion portion or the shape of the endoscope insertion portion, and experience and skill are required to perform a smooth endoscopic examination.

  To cope with this, an X-ray is irradiated from the outside, and an endoscopic examination is performed while confirming an insertion state such as an insertion position and an insertion shape of an endoscope insertion portion inserted into a body cavity with an X-ray monitor. The proposed technology has been proposed. However, since the irradiation location of X-rays is limited, it is difficult to accurately detect the insertion state of the endoscope insertion portion.

  Therefore, the present applicant can easily detect the insertion state of the endoscope insertion portion from the outside using a magnetic field in Patent Document 1 (Japanese Patent No. 3283478) and Patent Document 2 (Japanese Patent No. 3389518). We proposed an endoscope insertion shape detector that can be used.

That is, according to the technique described in the document, a source coil is provided in the endoscope insertion portion, and a sense coil unit is provided outside the subject. The magnetic field generated by the source coil is detected by a plurality of sense coils built in the sense coil unit, and the detected image is displayed on the monitor, so that the insertion shape of the endoscope insertion portion inserted into the body cavity is externally displayed. Can be easily grasped from.
Japanese Patent No. 3283478 Japanese Patent No. 3389518

  However, in the technique disclosed in Patent Document 1, since the sense coil unit is integrated with the apparatus body via the support, only movement within the range supported by the support is allowed. Not only is it difficult to place the endoscope in the optimal position for detecting the insertion state of the endoscope insertion section, but the main body of the device is always placed near the sense coil unit, which obstructs endoscopy. There is a problem that it is easy and unusable.

  On the other hand, in the technique disclosed in Patent Document 2, the sense coil unit is wound around a subject as a sheet, and connected to the apparatus main body via a cable. Can be arranged at a position that does not get in the way during endoscopy. Further, since the sense coil unit is wound around the subject and used, the insertion state of the endoscope insertion portion can be detected at the optimum position.

  However, in the technique disclosed in Patent Document 2, the sheet-like sense coil unit must be attached to and detached from the subject each time an examination or treatment is performed, and the attachment / detachment work is complicated. Also, if the position of the sense coil unit shifts when the subject changes position during endoscopy, it is necessary to interrupt the endoscopy and reattach it. There is a problem of being bad.

  In view of the above circumstances, the present invention provides an easy-to-use endoscope insertion shape detecting device that can easily set a coil unit at an optimal position and can be disposed at a position independent of a subject. The purpose is to provide.

  In order to achieve the above object, an endoscope insertion shape detecting device according to the present invention comprises a plurality of magnetic field generating elements, drive signal generating means for generating a magnetic field by supplying a drive signal to the plurality of magnetic field generating elements, and the plurality of the plurality of magnetic field generating elements. A magnetic field detecting element for detecting a magnetic field generated by the magnetic field generating element, and one of the magnetic field generating element and the magnetic field detecting element is disposed in the endoscope insertion portion, and the other of the magnetic field generating element and the magnetic field detecting element In an endoscope insertion shape detection apparatus, comprising: an apparatus main body provided with an arithmetic control unit that receives a signal detected by the magnetic field detection element and calculates a shape of the endoscope insertion part. The coil unit is separated from the apparatus main body and is disposed at a position independent of the subject.

  According to the present invention, the coil unit can be easily set at an optimal position, and can be arranged at a position independent of the subject, which is convenient.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 to 7 show a first embodiment of the present invention. FIG. 1 is a perspective view showing the overall configuration of the endoscope insertion shape detection device.

  As shown in FIG. 1, the endoscope insertion shape detection device 1 includes a device main body 2 and a sense coil unit 4 that is an example of a coil unit that is connected to the device main body 2 via a cable 3. ing.

  The detection surface 4a of the sense coil unit 4 is formed substantially flat, and a plurality of sense coils 5 as magnetic field detection elements are incorporated on the detection surface 4a side. Further, support portions 4b are formed in a convex shape on both sides of the detection surface 4a of the sense coil unit 4, and a mounting screw hole 4d is screwed on the back surface.

  Further, connector receivers 6 and 7 are provided on the apparatus main body 2 and the sense coil unit 4, and connectors 3 a and 3 b provided at both ends of the cable 3 are connected to the connector receivers 6 and 7.

  Each sense coil 5 detects a magnetic field generated by a source coil arranged in an insertion portion of an endoscope (not shown), and transmits the detection signal to the apparatus main body 2 side via the cable 3. Further, power is supplied from the apparatus main body 2 to each sense coil 5 via the cable 3. The configuration of the magnetic field generating element (source coil) disposed in the insertion portion of the endoscope is well known as disclosed in Patent Document 2 described above, and thus the description thereof is omitted here. .

  A pedestal 8 is provided at the bottom of the apparatus main body 2, and a caster 9 is fixed on the pedestal 8 to be movable. In the apparatus main body 2, drive signal generating means for generating a magnetic field by supplying drive signals to a plurality of magnetic field generating elements disposed in the insertion portion of the endoscope, and signals detected by the sense coils 5 are transmitted. And a calculation control unit mainly composed of a computer such as a microcomputer for receiving and calculating the insertion shape of the endoscope insertion unit, and the endoscope insertion unit calculated by the calculation control unit. An image processing calculation unit is provided that performs image processing on the inserted shape and displays it on a monitor (not shown).

  An operation unit 10 is provided on the front surface of the apparatus main body 2. A marker connector 11 for connecting a marker cable extending from a plurality of markers representing the positional relationship between the endoscope inserted into the body cavity of the subject and the outside of the body cavity and the power ON / OFF are connected to the operation unit 10. A power switch 12 or the like for performing is provided.

  Since the sense coil unit 4 is connected to the apparatus main body 2 via the cable 3, the attachment position can be freely set without being restricted by the position where the apparatus main body 2 is installed. Hereinafter, the aspect which attaches the sense coil unit 4 is demonstrated based on FIGS.

  FIG. 3 shows a mode in which the sense coil unit 4 is fixed to the inspection bed 14. On the inspection bed 14, a recess 14 a is formed as a positioning part for accommodating the sense coil unit 4. The depth of the recess 14a is set so that the detection surface 4a is substantially flush with the surface of the inspection bed 14 when the sense coil unit 4 is mounted in the recess 14a.

  In such an embodiment, the subject is laid on the examination bed 14, and the sense coil unit 4 is opposed to a portion corresponding to the position where the endoscope insertion portion is inserted, such as the abdomen of the subject. At that time, since the subject is supported on the sense coil unit 4 by the support portions 4b formed on both sides of the sense coil unit 4, the insertion state of the endoscope insertion portion is detected at the optimum position. be able to. In this case, the apparatus main body 2 can be retracted and placed at a position that does not interfere with the endoscopy, which is convenient.

  4 to 6, the sense coil unit 4 is fixed to a support arm (unit support arm) 21 as a unit support member, and the sense coil unit 4 can be fixed at an arbitrary position via the unit support arm 21. It is what I did.

  As shown in FIG. 4, the unit support arm 21 is provided with a stand attachment portion 22 at the lower end thereof. A boss shaft 22a protrudes from the lower end of the stand mounting portion 22, and the base end of the arm portion 23 as a holding means extends from the upper end portion to the boss shaft 22 via the shaft 25a in the vertical direction in the figure. It is supported rotatably. Further, a support portion 24a provided on the unit mounting portion 24 is supported on the upper end portion of the arm portion 23 via a shaft 25b so as to be rotatable in the vertical direction in the figure. Further, a unit mounting surface 24b is supported at the tip of the support portion 24a via a shaft 25c so as to be rotatable in the horizontal direction in the figure, and the back surface of the sense coil unit 4 is fixed to the unit mounting surface 24b. . A mounting screw hole 4d is screwed on the back surface of the sense coil unit 4, and a screw is inserted into the mounting screw hole 4d via a screw insertion hole (not shown) drilled in the unit mounting surface 24b. , And the sense coil unit 4 is fixed to the unit mounting portion 24. In this case, the cable 3 connected to the sense coil unit 4 is arranged through the space formed inside the unit support arm 21 so that the wiring can be made clear.

  FIG. 5 shows an example in which the unit support arm 21 to which the sense coil unit 4 is attached is attached to a stand 26 as a receiving member. The stand 26 is made movable by a caster 27 fixed to a pedestal 26a formed at the lower end thereof. Further, a recess 26 b that supports a boss shaft 22 a that protrudes from the lower end of the unit support arm 21 is formed at the upper end of the stand 26.

  In such an embodiment, the subject lying on the examination bed 14 is moved by attaching the boss shaft 22a protruding from the lower end of the unit support arm 21 to the recess 26b formed in the stand 26. Instead, by rotating the stand 21 in the three-dimensional direction, the sense coil unit 4 can be moved and set in an arbitrary position and direction in the three-dimensional space.

  That is, the arm portion 23 of the unit support arm 21 and the unit mounting portion 24 supported at the tip of the unit support arm 21 are rotatably supported while being supported by the respective shafts 25a to 25c. As shown in FIG. 5, the sense coil unit 4 is protruded above the inspection bed 14 and moved in the horizontal direction, so that the position and orientation of the sense coil unit 4 are set to the optimum positions. Can be set.

  In FIG. 6, the unit support arm 21 to which the sense coil unit 4 is attached is attached to a side guard frame 14b provided on one side of the inspection bed 14 via an arm support block 31 as a receiving member. An example is shown. The arm support block 31 is fixed to the side guard frame 14b, and a concave portion 31a for supporting the boss shaft 22a protruding from the lower end of the unit support arm 21 is formed on the upper surface thereof.

  In such an aspect, when the subject lying on the examination bed is to undergo endoscopic examination or treatment using the endoscope, the side guard provided on one side of the examination bed 14 The frame 14b is fixed to one side of the inspection bed 14. Then, a boss shaft 22 a protruding from the lower end of the unit support arm 21 is attached to the recess 31 a formed on the upper surface of the arm support block 31 fixed to the side guard frame 14 b. Then, the sense coil unit 4 fixed to the unit support arm 21 is disposed in the vicinity of the subject.

  Then, the unit support arm 21 itself is rotated in the horizontal direction, or the arm portion 23 provided on the unit support arm 21 and the unit mounting portion 24 supported at the tip thereof are rotated in the vertical direction. The sense coil unit 4 is set at an optimal position.

  In this aspect, since the arm support block 31 that holds the unit support arm 21 is fixed to the side guard frame 14b, it is not necessary to prepare a stand or the like for holding the unit support arm 21.

  In this case, the arm support block 31 may have a structure that can be attached to and detached from the pipe-shaped side guard frame 14b. For example, as shown in FIG. 7, the arm support block 31 is provided with a clamp portion 32, and the arm support block 31 is fixed to the side guard frame 14 b via the clamp portion 32.

  The clamp portion 32 has a clamp member 34, one end of which is rotatably supported via a hinge pin 33 with respect to the support block portion 31b, and a side surface on the opposing surface of the clamp member 34 and the support block portion 31b. Holding recesses 35a and 35b for holding the guard frame 14b are formed. An elastic member 38 such as a rubber sheet is attached to the inner surfaces of the holding recesses 35a and 35b.

  A lever 36 is rotatably supported by the clamp member 34. A screw portion 36a is formed at the tip of the lever 36, and a female screw portion 37 that is screwed into the screw portion 36a is screwed to the support block portion 31b.

  When attaching the arm support block 31 to the side guard frame 14b provided on one side of the inspection bed 14, first, the lever 36 is pivoted in the "open" direction indicated by the arrow in FIG. The threaded part 36a is disengaged from the female threaded part 37 that is screwed to the support block part 31b, so that the clamp member 34 is rotatable about the hinge pin 33.

  Then, the side guard frame 14b formed in a pipe shape is sandwiched between the holding recesses 35a and 35b formed on the opposing surfaces of the clamp member 34 and the support block portion 31b, and the lever 36 is shown in FIG. Turn in the direction of “tightening” indicated by the arrow.

  Then, the screw portion 36a screwed to the tip of the lever 36 is screwed into the female screw portion 37 screwed to the support block portion 31b, and the side guard frame 14b is tightened between the holding recesses 35a and 35b. And clamped. At this time, since the elastic member 38 is attached to the inner periphery of the holding recesses 35a and 35b, the side guard frame 14b is not scratched or rotated.

  Thereafter, the boss shaft 22a protruding downward from the stand mounting portion 22 provided at the lower end of the unit support arm 21 is inserted into the recess 31a formed in the support block portion 31b, and the unit support is the same as in FIG. The arm 21 is supported by the arm support block 31.

  According to such an aspect, since the arm support block 31 is detachable from the side guard frame 14b, the arm support block 31 can be removed when unnecessary, so that it does not get in the way and is easy to use. Good. Moreover, since the arm support block 31 can freely determine the mounting position with respect to the side guard frame 14b, it can be mounted at an optimal position according to the height of the subject.

  FIG. 8 is a perspective view showing the overall configuration of the endoscope insertion shape detecting apparatus according to the second embodiment of the present invention. In the first embodiment described above, the apparatus main body 2 and the sense coil unit 4 are separated. In this embodiment, an arm support block 31 is provided on the front surface of the apparatus main body 2, and the unit support arm 21 is provided on the arm support block 31. A boss shaft 22a provided at the lower end of the device is mounted, and the sense coil unit 4 is assembled to the apparatus main body 2.

  In this embodiment, an arm support block 31 is provided on the front surface of the apparatus main body 2, and a boss shaft 22 a protruding from the lower end of the unit support arm 21 is attached to a recess 31 a formed in the arm support block 31. Thus, the sense coil unit 4 can be easily assembled to the apparatus main body 2.

  According to such a configuration, the unit support arm 21 can be used in both a case where the unit support arm 21 is used while being assembled to the apparatus main body 2 and a case where the unit support arm 21 is used separately from the apparatus main body 2. Easy to use.

  FIG. 9 is a perspective view of a unit support arm according to the third embodiment of the present invention. The unit support arm 41 according to this embodiment has a flexible arm 41a as a holding means, a boss shaft 22a is provided at the lower end of the flexible arm 41a, and a unit mounting portion 41c is provided at the upper end. The boss shaft 22a is mounted and supported in the recess 31a formed in the arm support block 31, as in the first embodiment. Further, the sense coil unit 4 is fixed to the unit mounting portion 41c.

  In such a configuration, the unit support arm 41 can point the detection surface 4a of the sense coil unit 4 in an arbitrary position and direction in the three-dimensional space by bending the flexible arm 41a, which is convenient.

  FIG. 10 shows a fourth embodiment of the present invention. The sense coil unit 4 according to the present embodiment is obtained by adding a belt passing portion 42 as a fixing member to the back surface of the sense coil unit 4 shown in FIG.

  By additionally forming the belt passing part 42 on the back surface of the sense coil unit 4, in addition to the use mode of the first form described above, the sense coil unit 4 can be variously formed using the belt 43 passed through the belt passing part 42. Can be fixed to the site. FIG. 10B shows an example in which the belt 43 is wound around the inspection bed 14 and the sense coil unit 4 is fixed to the bottom surface side of the inspection bed 14.

  According to this form, in addition to the usage mode shown in the first form, the sense coil unit 4 can be mounted on the test bed 14 only by additionally forming the belt passing part 42 on the back surface of the sense coil unit 4 shown in the first form. The sense coil unit 4 can be fixed using the belt 43 without providing a support structure.

  FIG. 11 shows a fifth embodiment of the present invention. In this embodiment, a unit support arm 45 for fixing the sense coil unit 4 to the tip is supported by a base 46 as a receiving member provided on a wall surface 44 provided in the facility. As a mounting method of the unit support arm 45, as in the first embodiment, a boss shaft is provided at the lower end of the unit support arm 45, a recess for supporting the boss shaft is formed in the base 46, and the boss shaft is mounted in this recess. You may make it support by.

  Since the unit support arm 45 for fixing the sense coil unit 4 is fixed to the wall surface 44 of the facility, as shown in FIG. 11 (a) when endoscopy or treatment using the endoscope is not performed. Further, the inside of the facility can be widely used by folding the arm portion 47 of the unit support arm 45 and retracting the sense coil unit 4 to the wall surface 44 side. Moreover, since it is not necessary to fix the sense coil unit 4 to the inspection bed 14, the inspection bed can be moved freely.

  On the other hand, when a movable bed such as a stretcher is used as the inspection bed 14, for example, if the sense coil unit 4 is fixed to the inspection bed 14, the sense coil unit 4 is moved before the inspection bed 14 is moved. Need to be removed one by one. In this respect, in this embodiment, since the sense coil unit 4 is fixed on the wall surface 44 side, only the inspection bed 14 can be easily moved.

  Furthermore, as shown in FIG. 5, when the unit support arm 45 is fixed to the stand 26, the stand 26 remains in the facility even after the endoscopic examination is completed. However, in this embodiment, since the sense coil unit 4 is fixed on the wall surface 44 side, the space in the facility can be widely used.

  Of course, when performing endoscopy or treatment using an endoscope, the arm support 47 is extended by pulling the unit support arm 45 so that the sense coil unit 4 can be easily placed on the examination bed 14. It is easy to use. In this embodiment, the pedestal 46 as a receiving member is provided on the wall surface 44 of the facility, but the pedestal 46 may be provided on the floor or ceiling of the facility. Furthermore, the unit support arm 45 may be provided directly on the wall surface, floor surface, ceiling, etc. of the facility.

  FIG. 12 shows a fifth embodiment of the present invention. The sense coil unit 4 according to the present embodiment can be folded in half from the center.

  That is, the sense coil unit 4 of this embodiment is divided into two unit parts 52 a and 52 b, and the central part is connected by the hinge part 53. The sense coil 5 (see FIG. 2) built in one unit portion 52b is connected to a connector receiver 7 provided on the other unit portion 52a via a hinge portion 53.

  In this embodiment, the sense coil unit 4 is divided into two parts 52a and 52b, and as shown in FIG. 12A, both unit parts 52a and 52b are expanded to exert the function as the sense coil unit 4. In addition, as shown in FIG. 12 (b), when not in use, it can be stored compactly by folding in half around the hinge portion 53.

  FIG. 13 shows a seventh embodiment of the present invention. The sense coil unit 4 according to this embodiment is divided into two unit parts 54a and 54b from the center.

  That is, the mating surfaces of the two unit portions 54a and 54b are provided with connector portions 55a and 55b to be joined to each other, and on both sides thereof, positioning portions 56a and 56b that are concavo-convexly fitted. . The sense coil 5 (see FIG. 2) built in one unit portion 54b is connected to the connector receiver 7 provided in the other unit portion 54a via the connector portions 55a and 55b.

  In this embodiment, when the sense coil unit 4 is used, as shown in FIG. 13A, the mating surfaces of the two divided unit portions 54a and 54b are joined. Then, the positioning portions 56a and 56b provided on both the joint surfaces are positioned by being concavo-convexly fitted, and the connector portions 55a and 55b are connected to form one sense coil unit 4.

  On the other hand, when not used, as shown in FIG. 13B, the unit portions 54a and 54b are divided and the unit portions 54a and 54b are overlapped, so that they can be stored compactly.

  The present invention is not limited to the above-described embodiments. For example, the sense coil unit 4 is a coil unit that includes a magnetic field generating element, and the magnetic field detecting element is disposed in the insertion portion of the endoscope. The insertion shape of the endoscope insertion portion may be detected by detecting the magnetic field generated by the magnetic field detection element on the endoscope insertion portion side.

The perspective view which shows the whole structure of the endoscope insertion shape detection apparatus by a 1st form. (A) is a perspective view of the sense coil unit as seen from the detection surface side, (b) is a perspective view of the sense coil unit as seen from the back side. (A) is a perspective view of a sense coil unit and an inspection bed, (b) is a perspective view of a state in which the sense coil unit is mounted on the inspection bed. The perspective view of the state where the sense coil unit is attached to the unit support arm Same perspective view with unit support arm attached to stand Same perspective view with unit support arm attached to side guard frame of inspection bed Same as above, perspective view of arm support block having clamp portion The perspective view which shows the whole structure of the endoscope insertion shape detection apparatus by a 2nd form. The perspective view of the state which attached the sense coil unit by a 3rd form to the unit support arm The 4th form is shown, (a) is the perspective view which looked at the sense coil unit from the back side, (b) is the perspective view of the state which attached the sense coil unit on the test bed The fifth embodiment is shown, (a) is an explanatory diagram of a state in which the unit support arm is folded, (b) is an explanatory diagram of a state in which the unit support arm is extended. The sixth embodiment is shown, (a) is a perspective view of a state where the sense coil unit is expanded, (b) is a perspective view of a state where the sense coil unit is folded in two. The seventh embodiment is shown, in which (a) is a perspective view of a state where the sense coil unit is expanded, and (b) is a perspective view of a state where the sense coil unit is separated from the center.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Endoscope insertion shape detection apparatus, 2 ... Apparatus main body, 4 ... Sense coil unit, 4a ... Detection surface, 4b ... Projection part, 5 ... Sense coil, 14 ... Inspection bed, 14a ... Recessed part, 14b ... Side guard Frame, 21, 41, 45 ... Unit support arm, 31 ... Arm support block, 31a ... Recess, 31b ... Support block, 32 ... Clamp, 34 ... Clamp member, 35a, 35b ... Holding recess, 36 ... Lever, 38 ... elastic member, 41a, 47 ... arm part, 41c ... unit mounting part, 42 ... belt passing part, 43 ... belt, 44 ... wall surface, 52a, 52b, 54a, 54b ... unit part

Agent Patent Attorney Susumu Ito

Claims (12)

A plurality of magnetic field generating elements; drive signal generating means for generating a magnetic field by supplying drive signals to the plurality of magnetic field generating elements; a magnetic field detecting element for detecting a magnetic field generated by the plurality of magnetic field generating elements; One of the magnetic field generating element and the magnetic field detecting element is disposed in the endoscope insertion portion, the other of the magnetic field generating element and the magnetic field detecting element is disposed in the coil unit, and a signal detected by the magnetic field detecting element is detected. In an endoscope insertion shape detection apparatus having an apparatus main body including an arithmetic control unit that receives and calculates the shape of the endoscope insertion part,
An endoscope insertion shape detecting apparatus, wherein the coil unit is separated from the apparatus main body and disposed at a position independent of a subject. The endoscope insertion shape detection device according to claim 1, wherein support portions for supporting the posture of the subject are formed on both sides of the coil unit. The endoscope insertion shape detection device according to claim 1 or 2, wherein a fixing member is provided in the coil unit. The endoscope insertion shape detection device according to any one of claims 1 to 3, wherein the sense coil is divided into a plurality of unit portions. The endoscope insertion shape detection device according to any one of claims 1 to 4, wherein the coil unit is fixed to a positioning portion formed on a bed. The coil unit is fixed to the unit support member,
The endoscope insertion shape detecting device according to claim 1, wherein the unit support member is supported by a receiving member. 7. The endoscope insertion shape detecting apparatus according to claim 6, wherein the unit support member includes holding means for holding the unit support member so as to be movable in an arbitrary position and direction in the three-dimensional space. The endoscope insertion shape detecting device according to claim 6 or 7, wherein the receiving member is movable. The endoscope insertion shape detecting apparatus according to claim 6, wherein the receiving member is provided in the apparatus main body. The endoscope insertion shape detecting device according to claim 6, wherein the receiving member is provided on one side of the bed. The endoscope insertion shape detecting device according to claim 10, wherein the receiving member is detachably attached to the bed via a clamp portion. The endoscope insertion shape detecting device according to claim 6, wherein the receiving member is fixed to a facility.

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