JP4689291B2 - Endoscope apparatus and program for endoscope apparatus - Google Patents

Description

The present invention relates to an endoscope apparatus and a program for an endoscope apparatus .

  In recent years, endoscopes have been widely used in the medical field and the industrial field, and are usually inserted into an observation object to obtain an observation image, and display means for displaying the obtained observation image What is comprised as an endoscope apparatus provided with these is generally used.

  In this type of endoscope apparatus, the insertion portion of the endoscope is inserted into the observation object, and at the same time, the examination and the procedure are performed while observing the observation image (endoscopic image) displayed on the display means such as a monitor. Therefore, there is a demand for an operator that can reliably display a desired observation image and can perform an inspection and a procedure without a sense of incongruity.

  As such an endoscope apparatus, when an observation image obtained from a distal end portion of an insertion portion that can be inserted into an observation object is converted into an image signal and the observation image is displayed on the display means, the insertion portion of the endoscope There has been proposed one in which the top / bottom / left / right direction of the distal end matches the top / bottom / left / right direction of the insertion section control operation section (see, for example, Patent Document 1).

  In addition, an optical endoscope (fiberscope), an external television camera for endoscope, and a camera control unit are provided, and an endoscope image displayed on a monitor is updated in the camera control unit. There has been proposed one in which rotation adjustment means for rotating and adjusting an endoscopic image so that the direction coincides with the UP direction of the monitor (see, for example, Patent Document 2).

  Furthermore, there is provided a positional relationship determination / image processing apparatus that performs image processing for displaying an endoscopic image on a monitor on the basis of the surgeon's gaze direction without depending on the observation visual field direction of the endoscope. It has been proposed (see, for example, Patent Document 3). This positional relationship determination / image processing apparatus is configured to process an endoscopic image based on a visual field direction position sensor attached to the operator's head.

  In addition, an endoscope apparatus that has a gravity sensor and notifies the operator of the direction of gravity by superimposing a detection result of the direction of gravity from the gravity sensor on an endoscope image has been proposed (for example, Patent Documents). 4). This endoscope apparatus is also capable of rotating an image using information on the direction of gravity.

  However, in the endoscope apparatus described in Patent Document 1, the operation of the insertion portion is performed in a state where the insertion portion of the endoscope is twisted so that the vertical and horizontal directions of the display means do not match the vertical and horizontal directions of the observation image. If performed, the endoscopic image moves in a direction different from the operation direction, and the operator feels uncomfortable during the inspection.

  In addition, the endoscope apparatus described in Patent Document 2 includes means for manually adjusting the torsion of the insertion portion when considering, for example, industrial use. When the work is performed in a state of facing the diagonal direction, the vertical and horizontal directions of the endoscopic image and the monitor image are not matched. Therefore, when the operation of the insertion unit is performed, the endoscope image moves in a direction different from the operation direction, so that the operator still feels uncomfortable.

  Furthermore, the endoscope apparatus described in Patent Document 3 is a direction different from the operation direction even if the vertical and horizontal directions of the monitor and the operator's line-of-sight direction coincide with each other when considering industrial applications. The endoscope image is moved to the position.

Moreover, the endoscope apparatus described in Patent Document 4 does not mention a specific configuration on how to rotate an image using information on the direction of gravity.
JP 2001-350104 A Japanese Patent Laid-Open No. 2001-390 Japanese Patent Laid-Open No. 2000-287921 JP 2002-263057 A

  The present invention has been made in view of the above circumstances, and an endoscopic image in which the up / down / left / right direction of the endoscopic image matches the up / down / left / right operation direction of the operator can be displayed on a monitor so as not to feel uncomfortable during work. It is an object to provide an endoscope apparatus.

The present invention employs the following means in order to solve the above problems. An endoscope apparatus according to the present invention, in an endoscope apparatus that displays a captured image of an observation object, includes a display unit, a bending instruction unit that inputs a bending direction of an endoscope tip, and the observation object. based on the information from the rotation angle detector for detecting the rotation angle of the endoscope tip relative things, and a control unit for displaying on the display unit by rotating the image, wherein, the The bending direction of the endoscope distal end portion is controlled by performing correction by subtracting the rotation angle from the bending direction input by a bending instruction unit .

  This endoscope apparatus not only rotates and displays an endoscope image on the display unit based on the rotation angle of the distal end detected by the rotation angle detection unit by the endoscope image rotation processing unit, but also provides a bending instruction direction. Since the calculation processing unit also rotates the instruction direction of the bending instruction unit based on the rotation angle, the direction of the image displayed on the display unit and the instruction direction of the bending instruction unit can be matched.

  According to the present invention, the up / down / left / right direction of the endoscopic image can be matched with the up / down / left / right direction instructed by the operator, and the uncomfortable feeling at the time of inspection can be reduced.

A first embodiment according to the present invention will be described with reference to FIGS.
As shown in FIG. 1, an endoscope apparatus 1 according to the present embodiment includes an insertion portion 4 in which a distal end portion 3 on which a CCD (imaging device) 2 for imaging an observation object is disposed is disposed on the distal end. An endoscope 5, an endoscope control unit 6 that processes an image captured by the CCD 2 , a monitor (display unit) 7 that displays an endoscopic image obtained by the endoscope control unit 6, and a distal end portion 3 A bending instructing unit 8 that gives the bending direction and the amount of bending, and an acceleration sensor (rotation angle detecting unit) that is arranged in the vicinity of the CCD 2 at the tip 3 and detects the rotation angle of the CCD 2 relative to the observation object by detecting the direction of gravity. ) 10.

The endoscope control unit 6 includes an imaging processing unit 11 that processes an endoscopic image captured by the CCD 2 , and a bending control unit 12 that controls a bending direction and a bending amount of the distal end portion 3 based on an instruction from the bending instruction unit 8. And a rotation angle calculation processing unit 13 for calculating an angle for rotating the endoscope display image with respect to the monitor 7 based on information from the acceleration sensor 10, and an internal calculation based on the result calculated by the rotation angle calculation processing unit 13. Based on the result calculated by the endoscope image rotation processing unit 15 that rotates the endoscope display image with respect to the monitor 7 and the rotation angle calculation processing unit 13, the indication direction of the bending instruction unit 8 and the endoscope image rotation A bending instruction direction calculation processing unit 16 that matches the direction of the image rotated by the processing unit 15 and displayed on the monitor 7, a rotation angle calculation processing unit 13, an endoscope image rotation processing unit 15, and a bending finger And a control unit 17 that controls and controls the indicated direction calculation processing unit 16. The rotation angle calculation processing unit 13, the bending instruction direction calculation processing unit 16, and the control unit 17 are arranged in the calculation control unit 18.

Several angle wires (not shown) are inserted into the insertion portion 4, and any one of the angle wires is selected and pulled by the bending control portion 12, so that the distal end portion 3 can be bent in the vertical and horizontal directions, for example. It is said that.
The tilt information of the CCD 2 detected by the acceleration sensor 10 is transmitted to the rotation angle calculation processing unit 13.

Next, when imaging the observation object “F” as shown in FIG. 2 with the endoscope apparatus 1 according to the present embodiment, as shown in FIGS. 3A and 4A, gravity is applied. A description will be given of actions and effects when imaging a state in which the CCD 2 is not inclined with respect to the direction and is inclined by α degrees with respect to the direction of gravity as shown in FIGS. 3B and 4B.

First, an image of the observation object “F” standing upright with respect to the direction of gravity is picked up by the CCD 2 . At this time, when the CCD 2 is tilted by α degrees with respect to the direction of gravity as shown in FIG. 5, if the image rotation process is not performed as it is, the observation object “F” becomes α as shown in FIG. It is displayed on the monitor 7 in a tilted state.

At this time, the inclination information of α degrees of the CCD 2 with respect to the direction of gravity detected by the acceleration sensor 10 is transmitted to the rotation angle calculation processing unit 13 for processing. Based on this angle information, the endoscope image rotation processing unit 15 rotates the endoscope image imaged by the imaging processing unit 11 by α degrees. At this time, as shown in FIG. 7, the monitor 7 displays an upright image of the observation object “F”, and the direction of gravity coincides with the direction of the monitor 7.

At this time, since the bending directions of the vertical and horizontal directions and the distal end portion 3 of the CCD2 match, as shown in FIG. 8, when instructed upward (U) at the bending instruction portion 8, CCD2 Figure 9 As shown in FIG. 4, the endoscope moves in the upward direction (U ′) inclined by α degrees from the direction of gravity, and the up / down / left / right direction of the endoscopic image does not coincide with the up / down / left / right direction instructed to bend by the operator.

Here, the bending angle transmitted to the bending instruction unit 8 is calculated by the bending instruction direction calculation processing unit 16.
For example, as shown in FIG. 10, when the bending operation in the β direction by the bending instruction portion 8 for controlling the bending direction is decomposed into a UD direction (vertical direction) and the RL direction (lateral direction), with respect to the direction of gravity of the CCD2 When the inclination is α degrees, the bending angle processed by the bending instruction direction calculation processing unit 16 and transmitted to the bending control unit 12 is expressed by the following equation (1).

  When sin is taken with respect to both sides of the formula (1), the following formula (2) is obtained.

  Therefore, the data in the UD direction with respect to the bending angle with respect to the β direction to be bent can be expressed by the following equation (3).

  On the other hand, when cos is taken for both sides of the equation (1), the following equation (4) is obtained.

  Accordingly, the data in the RL direction with respect to the bending angle with respect to the β direction to be bent can be expressed by the following equation (5).

In this way, as shown in FIG. 11, the up / down / left / right direction of the endoscopic image displayed on the monitor 7 and the up / down / left / right direction instructed by the operator to be curved can coincide with each other in the upward direction (U).
According to the endoscope apparatus 1, even when the CCD 2 is inclined with respect to the direction of gravity, the bending instruction unit 8 can be operated when the operator performs a bending operation of the endoscope image displayed on the monitor 7. The up / down / left / right directions to be operated can be made to coincide with each other, and the uncomfortable feeling at the time of inspection can be reduced.

Next, a second embodiment will be described with reference to FIGS.
In addition, the same code | symbol is attached | subjected to the component similar to 1st Embodiment mentioned above, and description is abbreviate | omitted.
The difference between the second embodiment and the first embodiment is that the endoscope apparatus 20 according to this embodiment further includes an electronic zoom instruction unit 22 that instructs the imaging processing unit 21 to perform an electronic zoom, and an electronic zoom. And an PAN / TILT instruction unit 23 for instructing to move the endoscope display image electronically zoomed by the instruction unit 22 in the horizontal (PAN) or vertical (TILT) direction, and an arithmetic processing unit 26 of the endoscope control unit 25. Based on the result calculated by the rotation angle calculation processing unit 13, the indication direction of the PAN / TILT instruction unit 23 and the direction of the image rotated by the endoscope image rotation processing unit 15 and displayed on the monitor 7 are The point is that a PAN / TILT direction calculation processing unit 27 to be matched is further provided.
The imaging processing unit 21 and the arithmetic processing unit 26 are connected by a data line.

Next, in the endoscope apparatus 20 according to the present embodiment, as shown in FIG. 13, operations and effects when the CCD 2 and the acceleration sensor 10 image a state inclined α degrees with respect to the direction of gravity will be described. .
First, an image of the observation object “F” standing upright with respect to the direction of gravity is picked up by the CCD 2 . At this time, when an electronic zoom instruction is given to the endoscopic image by the electronic zoom instruction unit 22, a zoom instruction signal is transmitted and processed to the arithmetic processing unit 26, and the endoscopic image is electronically zoomed by the imaging processing unit 21.
When the CCD 2 is in the state of being tilted by α degrees with respect to the direction of gravity, if the image rotation process is not performed as it is, the observation object “F” is electronically zoomed in a state of tilting by α degrees as shown in FIG. The image f is displayed on the monitor 7.

At this time, the inclination information of α degrees of the CCD 2 with respect to the direction of gravity detected by the acceleration sensor 10 is transmitted to the rotation angle calculation processing unit 13 for processing. Based on this angle information, the endoscope image rotation processing unit 15 rotates the endoscope image imaged by the imaging processing unit 21 by α degrees. At this time, as shown in FIG. 15, the monitor 7 displays an image f in which the observation object “F” that has been electronically zoomed is upright, and the direction of gravity coincides with the direction of the monitor 7.

At this time, since the up / down / left / right direction of the CCD 2 and the PAN / TILT direction coincide with each other, as shown in FIG. 16, when the PAN / TILT instruction unit 23 instructs the upward direction (U), the imaging processing unit 21 When the PAN / TILT process is performed in FIG. 17, the endoscopic image moves upward (U ′) inclined by α degrees from the direction of gravity as shown in FIG. And the up / down / left / right directions instructed by the operator to PAN / TILT do not match.

Here, the angle transmitted to the imaging processing unit 21 is calculated by the PAN / TILT direction calculation processing unit 27.
For example, as shown in FIG. 18, the PAN / TILT indication direction is bent in the β direction by the PAN / TILT indication unit 23 which controls the PAN / TILTUD direction (up and down direction) and the PAN / TILTRL direction (left and right direction). When operating, if the inclination of the CCD 2 with respect to the gravity direction is α degrees, the PAN / TILT angle processed in the PAN / TILT direction calculation processing unit 27 is expressed by the following equation (6).

  When sin is taken with respect to both sides of the equation (6), the following equation (7) is obtained.

  Therefore, the data in the PAN / TILT UD direction with respect to the PAN / TILT instruction direction β can be expressed by the following equation (8).

  On the other hand, when cos is taken for both sides of the equation (6), the following equation (9) is obtained.

  Therefore, the data in the PAN / TILT RL direction with respect to the PAN / TILT instruction direction β can be expressed by the following equation (10).

Thus, as shown in FIG. 19, the up / down / left / right direction of the endoscopic image displayed on the monitor 7 and the up / down / left / right direction instructed by the operator to PAN / TILT can be matched with the upward direction (U).
According to this endoscope apparatus 20, even when the CCD 2 is inclined with respect to the direction of gravity, the operator can use the PAN / TILT instruction unit 23 to move the PAN / TILT in the vertical and horizontal directions of the electronic zoom image displayed on the monitor 7. The up, down, left, and right directions to be instructed can be matched, and the uncomfortable feeling during the inspection can be reduced.

Next, a third embodiment will be described with reference to FIGS.
In addition, the same code | symbol is attached | subjected to the component similar to other embodiment mentioned above, and description is abbreviate | omitted.
The difference between the third embodiment and the first embodiment is that the endoscope apparatus 30 according to this embodiment is curved as shown in FIG. 20 instead of the acceleration sensor 10 that detects the inclination of the CCD 2 . The instruction unit 31 includes a bending instruction unit rotation angle detection unit 32 that detects a rotation angle with respect to an axis R direction perpendicular to the bending azimuth plane 31A composed of the UD direction and the RL direction, and the arithmetic processing unit 35 of the endoscope control unit 33 includes Instead of the rotation angle calculation processing unit 13, a bending instruction unit rotation angle calculation processing unit 36 for calculating the rotation angle of the endoscope display image with respect to the monitor 7 based on information from the bending instruction unit rotation angle detection unit 32 is provided. It is a point that it has.

The bending instruction direction calculation processing unit 37 is rotated by the indication direction of the bending instruction unit 31 and the endoscope image rotation processing unit 15 on the monitor 7 based on the result calculated by the bending instruction unit rotation angle calculation processing unit 36. The direction of the displayed image is made to coincide.
The bending azimuth surface 31 </ b> A is rotatable with the rotation of the bending instruction unit 31 based on the processing of the bending instruction direction calculation processing unit 37.

Next, operations and effects of the endoscope apparatus 30 according to the present embodiment will be described.
First, when the observation object “F” is imaged, it is displayed on the monitor 7 as shown in FIG.
In this state, as shown in FIG. 24, when the bending instruction section 31 is rotated by α degrees with respect to the axis R, the rotation angle α of the bending instruction section 31 is detected by the bending instruction section rotation angle detection section 32, and α degrees Is transmitted to the bending instruction section rotation angle calculation processing section 36 and processed. Based on this angle information, the endoscope image rotation processing unit 15 rotates the endoscope image imaged by the imaging processing unit 11 by α degrees. The operator operates the endoscope apparatus 30 while looking at the monitor 7.

  At this time, in accordance with the rotation of the bending instruction unit 31, the bending instruction direction calculation processing unit 37 performs processing by the same method as in the first embodiment so that the bending direction surface 31A also rotates α degrees. That is, as shown in FIG. 25, the curved azimuth surface 31A indicating the UDRL direction becomes the curved azimuth surface 31A indicating the U′D′R′L ′ direction inclined by α degrees.

In this state, when a bending instruction is given in the direction of the arrow A shown in FIG. 26, the bending instruction direction calculation processing unit 37 processes it and transmits the bending control unit 12 so as to control the bending in the arrow A direction of FIG.
In this way, bending control is performed in the direction of arrow B shown in FIG.
According to the endoscope apparatus 30, even when the bending instruction unit 31 is rotated, the up / down / left / right direction of the endoscopic image can be matched with the up / down / left / right direction instructed by the operator to bend.

The technical scope of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.
For example, the calculation method of the bending angle is not limited to that in the above embodiment, and may be performed by another method according to the characteristics of the endoscope apparatus.
Further, the rotation angle detection unit is not limited to the acceleration sensor, and may be an inclination sensor that detects an inclination angle.

1 is an overall configuration diagram showing an endoscope apparatus according to a first embodiment of the present invention. It is a figure which shows the example of an observation target object. (A) Monitor display of observation object by CCD along gravity direction by endoscope apparatus according to first embodiment of present invention, (b) Monitor display of observation object inclined by α degrees from gravity direction It is explanatory drawing which shows. (A) The perspective view of FIG. 2, (b) The perspective view of FIG. 3 (a), (c) The perspective view of FIG.3 (b). It is explanatory drawing which shows the monitor display of the observation target object of the state inclined (alpha) degree from the gravity direction by the endoscope apparatus which concerns on the 1st Embodiment of this invention. It is explanatory drawing which shows a monitor display when not performing the rotation process of the endoscopic image in the endoscope apparatus which concerns on the 1st Embodiment of this invention. It is explanatory drawing which shows the monitor display at the time of performing the rotation process of the endoscopic image in the endoscope apparatus which concerns on the 1st Embodiment of this invention. It is a top view which shows the curve instruction | indication part of the endoscope apparatus which concerns on the 1st Embodiment of this invention. It is explanatory drawing which shows the relationship between the display direction of a monitor, and the direction which carries out a bending operation, when not performing a bending instruction | indication direction calculation process in the endoscope apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows the relationship between the inclination-angle of the endoscopic image of the endoscope apparatus which concerns on the 1st Embodiment of this invention, and the operation direction at the time of curving operation on a UDRL curving direction surface. It is explanatory drawing which shows the relationship between the display direction of a monitor, and the direction which carries out a bending operation, when the bending instruction | indication direction calculation process is performed in the endoscope apparatus which concerns on the 1st Embodiment of this invention. It is a whole block diagram which shows the endoscope apparatus which concerns on the 2nd Embodiment of this invention. It is explanatory drawing which shows the monitor display of the observation target object of the state inclined (alpha) degree from the gravity direction by the endoscope apparatus which concerns on the 2nd Embodiment of this invention. It is explanatory drawing which shows a monitor display when not performing the rotation process of the endoscope image displayed by the electronic zoom in the endoscope apparatus which concerns on the 2nd Embodiment of this invention. It is explanatory drawing which shows the monitor display at the time of performing the rotation process of the endoscope image displayed by the electronic zoom in the endoscope apparatus which concerns on the 2nd Embodiment of this invention. It is a top view which shows the PAN / TILT instruction | indication part of the endoscope apparatus which concerns on the 2nd Embodiment of this invention. It is explanatory drawing which shows the relationship between the display direction of a monitor, and the direction which performs PAN / TILT operation, when not performing PAN / TILT instruction | indication direction calculation processing in the endoscope apparatus which concerns on the 2nd Embodiment of this invention. It is a figure which shows the relationship between the inclination angle of the endoscopic image of the endoscope apparatus which concerns on the 2nd Embodiment of this invention, and the operation direction at the time of PAN / TILT operation on a UDRL azimuth | direction surface. It is explanatory drawing which shows the relationship between the display direction of a monitor, and the direction which performs PAN / TILT operation, when performing the PAN / TILT instruction | indication direction calculation process in the endoscope apparatus which concerns on the 2nd Embodiment of this invention. It is a whole block diagram which shows the endoscope apparatus which concerns on the 3rd Embodiment of this invention. It is a perspective view which shows the outline | summary of the bending instruction | indication part and bending instruction | indication part rotation angle detection part of the endoscope apparatus which concerns on the 3rd Embodiment of this invention. It is a top view which shows the curve instruction | indication part of the endoscope apparatus which concerns on the 3rd Embodiment of this invention. It is explanatory drawing which shows the monitor display of the observation target object by CCD along the gravity direction by the endoscope apparatus which concerns on the 3rd Embodiment of this invention. It is explanatory drawing which shows a state when the bending instruction | indication part of the endoscope apparatus which concerns on the 3rd Embodiment of this invention is rotated. It is explanatory drawing which shows the rotation state of a curve azimuth | direction surface when rotating the curve instruction | indication part of the endoscope apparatus which concerns on the 3rd Embodiment of this invention. It is a top view which shows the state which rotated the curve instruction | indication part of the endoscope apparatus which concerns on the 3rd Embodiment of this invention. It is explanatory drawing which shows the relationship between the display direction of a monitor, and the direction which carries out a bending operation, when a bending instruction | indication direction calculation process is performed in the endoscope apparatus which concerns on the 3rd Embodiment of this invention.

Explanation of symbols

1, 20, 30 Endoscopic device 2 CCD (imaging device)
3 Tip 5 Endoscope 7 Monitor (Display Unit)
8, 31 Curving instruction unit 10 Acceleration sensor (rotation angle detection unit)
DESCRIPTION OF SYMBOLS 11, 21 Imaging processing part 12 Bending control part 13 Rotation angle calculation processing part 15 Endoscope image rotation processing part 16, 37 Bending instruction direction calculation processing part 22 Electronic zoom instruction part 23 PAN / TILT instruction part 27 PAN / TILT instruction direction Arithmetic processing part 32 Bending instruction part rotation angle detection part 36 Bending instruction part rotation angle calculation processing part

Claims (6)

In an endoscope apparatus that displays an image of an observed observation object,
A display unit;
A bending instruction section for inputting a bending direction of the endoscope distal end section;
A control unit that rotates the image and displays the image on the display unit based on information from a rotation angle detection unit that detects a rotation angle of the endoscope distal end with respect to the observation object;
With
The endoscope apparatus according to claim 1 , wherein the control unit controls a bending direction of the endoscope distal end portion by performing correction by subtracting the rotation angle from the bending direction input by the bending instruction unit . Wherein the control unit, the a bending instruction portion defined vertical and horizontal directions, of claim 1, wherein the performing control to match the defined vertical and horizontal directions on the display screen on the display unit Endoscopic device. In an endoscope apparatus that displays an image of an observed observation object,
A display unit;
A bending instruction section for inputting a bending direction of the endoscope distal end section;
An electronic zoom function for electronically zooming and displaying the image on the display unit;
An electronic zoom instruction unit for instructing the electronic zoom;
A PAN / TILT instruction unit for instructing movement of the image that has been electronically zoomed by the electronic zoom instruction unit in a PAN or TILT direction;
A control unit that rotates the image and displays the image on the display unit based on information from a rotation angle detection unit that detects a rotation angle of the endoscope distal end with respect to the observation object;
With
The control unit controls the bending direction of the endoscope distal end portion and the PAN or the TILT direction input by the PAN / TILT instruction unit based on the rotation angle. Mirror device. In an endoscope apparatus that displays an image of an observed observation object,
A display unit;
An electronic zoom function for performing an electronic zoom on the image and displaying the image on the display unit;
A PAN / TILT instruction unit for instructing movement of the electronic zoomed image in the PAN or TILT direction;
A control unit that rotates the image and displays it on the display unit based on information from a rotation angle detection unit that detects a rotation angle of an endoscope tip portion with respect to the observation object;
With
The endoscope apparatus, wherein the control unit corrects the PAN or the TILT direction input by the PAN / TILT instruction unit based on the rotation angle. Endoscope device
Acquiring a captured display image of the observed object;
A step of rotating the display image on the display unit based on the rotation angle of the endoscope tip with respect to the observation object;
Correcting the bending direction of the endoscope distal end by performing correction for subtracting the rotation angle from the bending direction of the input endoscope distal end; and
A program for an endoscope apparatus, characterized in that In the endoscope apparatus,
Electronic zooming of the image to display on the display unit;
Correcting the PAN or TILT direction of the electronically zoomed image based on the rotation angle;
The endoscope device program according to claim 5, characterized in that further to execute.

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