KR20120057233A - Surgical instrument system - Google Patents

Abstract

PURPOSE: A surgical instrument system is provided to rapidly and appropriately cope with various situations which can generate during surgery by rapidly replacing a surgical instrument. CONSTITUTION: A frame unit(35) is fixed and coupled to a mobile supporter. The frame unit is moved along a guide rail of the mobile supporter. An instrument unit(37) is attached to one end of the frame unit. A first connection unit connects a first combination unit with the frame unit. A second connection unit connects a second combination unit with the instrument unit. The first combination unit and the second combination unit are coupled with each other. The first connection unit and the second connection unit are composed of a wire.

Description

Surgical Instrument System {SURGICAL INSTRUMENT SYSTEM}

The present invention relates to a surgical instrument system attached to a surgical robot, to be used for minimally invasive surgery (Minimal Invasive Surgery), and more particularly to a surgical instrument system configured to be detachable surgical instrument (Surgical Instrument) will be.

Medically, surgery means repairing a disease by cutting, slitting or manipulating skin, mucous membranes or other tissues using surgical instruments. In particular, open surgery to incise and open the skin of the surgical site, and to treat, shape, or remove the organs therein cause problems such as bleeding, side effects, patient pain, and scars.

On the contrary, instead of dissecting the skin, a small insertion hole (孔) is drilled, and through this, a minimally invasive surgery for inserting surgical instruments such as an endoscope, a laparoscope, and a microsurgical microscope is performed. .

On the other hand, such minimally invasive surgery may be performed manually by the chief physician, but recently, instead of the operator directly operating the instrument, robot surgery is performed as an alternative to perform the operation by precisely manipulating the instrument using a surgical robot. have.

In general, a surgical robot for robotic surgery is a master input unit that generates and transmits a signal required by an operation of a device, and a slave robot that receives a signal from a master input unit and directly applies a manipulation necessary for surgery to a patient. Is done.

In this case, the master input unit and the slave robot are integrated or configured as separate devices, respectively, and arranged in the operating room. The slave robot is provided with a robot arm (Robotic Arm) for the operation for surgery, the surgical instrument is mounted on the tip of the robot arm.

On the other hand, minimally invasive surgery is performed by using a surgical robot, a small hole (incision) of about 0.5 ~ 1.5cm in size on the skin, a surgical method is performed by putting a video camera or various devices therein. Minimally invasive surgery, compared to traditional open surgery, because of the small size of the incision, the surgical wound looks cosmetic and the pain due to the wound is much smaller. In addition, the patient's recovery speed is fast, compared to the laparotomy surgery has a shorter hospital stay, there is an advantage that can quickly return to daily life.

In order to perform minimally invasive surgery using a surgical robot, several surgical instruments must be precisely inserted into a small hole, an incision. In addition, various surgical instruments must be used during the surgery, depending on the type of surgery, the patient's condition, and the like. Therefore, there are cases where the operator must replace the surgical instrument used during the operation with another appropriate surgical instrument.

Accordingly, there is a need for a surgical instrument system capable of efficiently replacing surgical instruments in order to perform minimally invasive surgery quickly and precisely.

The present invention has been made to solve the conventional problems as described above, the present invention is to provide a surgical instrument system capable of efficiently replacing the surgical instrument, in order to perform a minimally invasive surgery quickly and precisely have.

In order to achieve the above object, the present invention is a surgical instrument system attached to the surgical robot arm (arm), the surgical instrument system including a frame unit and a surgical instrument is provided with a detachable structure on one side of the surgical robot arm A first coupling portion comprising a coupling member and connected to the frame portion; Comprising a coupling member corresponding to the first coupling portion, comprising a second coupling portion connected to the instrument portion, the first coupling portion and the second coupling portion provides a surgical instrument system configured to be fastened to be fixed to each other.

The present invention also includes an embodiment including a first connecting portion connecting the first coupling portion to the frame portion and a second connecting portion connecting the second coupling portion to the mechanism portion.

In addition, the present invention includes an embodiment in which the first connection portion or the second connection portion is composed of a wire.

The present invention also includes an embodiment in which the first connection part or the second connection part has a link connection structure in which at least two frames are connected to each other.

In addition, the present invention includes an embodiment in which the first connecting portion is configured to pull and move the first coupling portion in the direction of the frame portion, and the second coupling portion in the direction of the mechanism portion.

The present invention also includes an embodiment in which the first coupling part and the first connection part are configured to be inserted into the frame part, and the second coupling part and the second connection part are configured to be inserted into the mechanism part. .

In addition, the present invention includes an embodiment in which one side of the frame portion and the mechanism portion is provided with a fixing portion configured to be fixed to the frame portion and the mechanism portion mutually.

In addition, the present invention is attached to a surgical robot arm (arm), the surgical instrument system including a frame portion and a mechanism provided with a surgical instrument configured to be detachable on one surface of the surgical robot arm, configured as a coupling member A coupling part configured to be connected to the frame part or the mechanism part; A surgical instrument system is provided that includes a coupling portion configured to connect the coupling portion to the frame portion or the instrument portion.

In addition, the present invention includes an embodiment in which the connection portion is composed of a wire.

In addition, the present invention includes an embodiment in which the link unit has a link connection structure in which at least two frames are connected to each other.

The present invention also includes an embodiment in which the coupling part and the connection part are configured to be inserted into the frame part or the mechanism part.

In addition, the present invention includes an embodiment in which one side of the frame portion and the mechanism portion is provided with a fixing portion configured to be fixed to the frame portion and the mechanism portion mutually.

The present invention is not limited to the above-described embodiment, and as can be seen in the appended claims, modifications can be made by those skilled in the art to which the present invention pertains, and such modifications are within the scope of the present invention. Reveal.

Through the above configuration, since the surgical instrument system of the present invention is configured to replace the surgical instrument quickly, the operator can respond quickly and appropriately to various situations that may occur during the operation. And, by enabling the correct procedure there is an effect that can also ensure the stability of the surgery. In addition, since the surgical instrument system of the present invention is configured to replace only the surgical instrument portion, there is an effect that can easily build a surgical instrument system at a low cost.

1 is a schematic diagram of a surgical robot system according to an embodiment of the present invention.
2 is a side view of a robotic arm in accordance with one embodiment of the present invention.
3 is a schematic diagram of a surgical instrument part according to an embodiment of the present invention.
4 is a schematic view of a surgical instrument portion configured to be detachable from the instrument portion according to the first embodiment of the present invention.
5 is a schematic view of a surgical instrument portion configured to be detachable from the instrument portion according to the second embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. In the following description, the same components are given the same names and the same reference numerals for the convenience of description.

The terminology used in the present invention was selected as a general term that is widely used at present, but in some cases, the term is arbitrarily selected by the applicant, and in this case, the meaning of the term is described in detail in the description of the present invention. The present invention should be understood as meanings other than terms.

1 is a schematic diagram of a surgical robot system 100 according to an embodiment of the present invention.

As shown in Figure 1, the surgical robot system 100 is a signal required by the operation of the instrument of the operator (S) while the minimally invasive surgery is performed on the patient (P) side lying on the surgical table (0) It includes a master input unit (2) for generating and transmitting a, and a slave robot (1) for receiving a signal from the master input unit (2) to directly apply the operation required for surgery to the patient.

First, the master input unit 2 of the present invention includes a master input device 10 configured to be operated by the operator S, and the master input device 10 includes a first screen representing an image of the surgical site 20. Display unit 12 for providing the operator with a second screen for the user interface, the operation of the surgical robot displayed on the first screen, and one or more user operation unit to control the user interface displayed on the second screen by the user's operation 14 and 15, and a signal processing unit 16 for converting the movement of the user operation unit 14, 15 by the user's operation into a control signal of the operation of the surgical robot or a control signal of the user interface.

In the surgical robot system 100 of the present invention, the user interface for changing the setting of the system may be selectively provided by the display unit 12 representing the surgical image, rather than a separate display device. In addition, an operation such as changing a system setting through a user interface may be performed by the user manipulation units 14 and 15 for operating a surgical instrument.

The user controls 14 and 15 may include one or more of various input devices such as a joystick, a glove, a trigger-gun, a manual controller, and the like. The signal processor 16 may be integrated into the master input device 10 or may be configured as a computer located next to the master input device 10.

The operator can detach the robot arms 32 and 36 while observing the first screen representing the surgical site 20, which is captured by the endoscope 30 or the like and provided to the display unit 12 of the master input device 10. Minimally invasive surgery is performed by manipulating the user manipulation units 14, 15 to drive the combined surgical instrument portions 38, 40. In this case, the first screen may be provided as a planar image or a stereoscopic image of the surgical site.

In addition, the operator may switch the mode of the system from the surgical mode to the user interface mode, if necessary during the operation. In this case, the display unit 12 provides a second screen so that the operator can check the information related to the surgery and change the settings of the surgical robot system.

In the surgical robot system 100 according to the embodiment of the present invention as described above, the operator executes the operation operation without using the display device and the input device provided separately from the master input device 10 for the operation for changing the system setting. It can be performed through the display unit 12 and the user operation unit (14, 15). Therefore, even if it is necessary to change the setting of the system during the procedure, the operator can perform this by a simple operation without departing from the master input device 10, so that there is no delay of the operation. In addition, since the operation can be performed continuously without leaving the seat, the operator can maintain the concentration on the surgery.

In addition, the display unit 12 may be positioned near the operator's hand to display an image directed toward the operator to have a feeling of actually looking directly down the surgical site 20. For this purpose, it is desirable that the images of the surgical instrument parts 38, 40 appear to be actually placed where the operator's hand is located. To this end, it is preferable that the signal processing unit 16 changes the directions of the user manipulation units 14 and 15 to orient the corresponding surgical instrument units 38 and 40 as shown by the endoscope 30.

The signal processor 16 performs various functions in the surgical robot system 100. In particular, the signal processor 16 controls the mechanical movement of the user controls 14, 15 to each robot arm 32, 34 so that the operator can effectively move and / or manipulate the respective surgical instruments 38, 40. , And the control signal for 36). The signal processor 16 transmits the modified control signal to the base 140 of the slave robot 1 through the control signal bus 50. In addition, the signal processing unit 16 is a surgical instrument unit when the surgical instrument units 38 and 40 are located outside the camera capture screen displayed on the display unit 12 or blocked within the camera capture screen displayed on the display unit 12. The position of (38, 40) is displayed.

In addition, the signal processor 16 changes the mechanical movement of the user manipulation units 14 and 15 to the system when the operator manipulates the user manipulation units 14 and 15 through the second screen. It can be transformed into a control signal and transmitted.

The signal processor 16 may be implemented by any combination of hardware, software, and firmware. In addition, the function of the signal processing unit may be executed by one unit as described herein, or may be executed by being divided into different components that may be sequentially executed in any combination of hardware, software, and firmware. .

The slave robot 1 of the present invention receives the control signal from the signal processing unit 16, the base 140 driving the robot arms 32, 34, 36 to the control signal, and a plurality of performing the actual minimal erosion surgery It consists of the robot arms 32, 34, 36. A detailed configuration of the robot arms 32, 34, 36 in the slave robot 1 will be described below with reference to FIG. 2.

Robotic arms 32, 34, 36 are attached with respective surgical instrument portions 38, 40. Each surgical instrument portion 38, 40, including the endoscope 30, may be inserted into the patient through a surgical instrument guide, such as a cannula. Each robot arm 32, 34, 36 is formed of a linkage device such as an interlock device, which linkages are coupled to each other and can be manipulated through a motor controlled joint.

The number of surgical instrument parts 38, 40 used and the number of robot arms 32, 34, 36 used in the surgical robot system 100 may be determined according to the diagnostic or surgical method and the spatial constraints within the operating room, among other factors. Can be. That is, although the surgical robot system 100 is shown as having three robot arms 32, 34, 36 in FIG. 1, this is for illustrating the present invention, and the number of robot arms and surgical instruments may be necessary. According to the present invention, the present invention is not limited thereto.

2 is a side view of the robot arm 32 in accordance with one embodiment of the present invention.

As shown in FIG. 2, the robot arm 32 of the present invention includes a first robot joint 62, a second robot joint 64, a movement support 52, and a plurality of surgical instrument parts 38 and 39. do.

The first robot joint part 62 may be directly attached to the base 140 to control the roll operation based on the horizontal plane of the moving support part 52. The second robot joint part 64 may be provided to be connected between the first robot joint part 62 and the moving support part 52, and may be configured to control the movement of the moving support part 52 in the pitch direction.

In addition, the first robot joint 62 and the second robot joint 64 may be configured as a motor-controlled joint, and are connected to each other by a linkage device such as an interlocking device. Therefore, the robot arm 32 of the present invention drives the first robot joint 62 and the second robot joint 64 in accordance with the control signal transmitted from the signal processor 16 and attaches to the movement support 52. It is to independently control the movement of the surgical instrument (38, 39).

In addition, although not shown in the drawing, the robot arm 32 of the present invention may further include third to fourth robot joints for free movement of the moving support 52.

At the shortest end of the robot arm 32, a moving support 52 is provided. The moving support 52 is connected to the second robot joint 64 and may be configured as an arch-shaped frame. A plurality of surgical instrument parts 38 and 39 are attached to the movable support part 52. Accordingly, as the first and second robot joints 62 and 64 move, the moving support 52 moves, and thus the positions of the surgical instrument parts 38 and 39 attached to the moving support 52 change. Will be.

And the guide rail 54 is formed in the side part of the movement support part 52. As shown in FIG. The guide rail 54 is a rail formed by a circular groove, and serves as a movement path of the surgical instruments 38 and 39. That is, the surgical instruments 38 and 39 are to move along the guide rail 54 formed on the side portion of the movable support 52.

The guide rail 54 is formed in the side part of the moving support part 52 by the semicircle which has one center. Accordingly, the surgical instrument parts 38 and 39 attached to the movable support 52 intersect at the center of the circle, and the portion where the center of the circle and the surgical instrument parts 38 and 39 intersect is the skin position of the patient.

In addition, the plurality of surgical instrument parts 38 and 39 move independently from the guide rails 54. Accordingly, the operator independently controls the movement and driving of the surgical instrument parts 38 and 39 through the master input unit 2. In addition, the plurality of surgical instruments 38 and 39 may be configured to be detachable from the movable support 52.

The operator can perform the procedure by simultaneously accessing a plurality of surgical instrument parts 38 and 39 to a specific part of the patient, thereby reducing the procedure time and responding quickly in the event of an emergency. And, by specifying a part of the patient, it is possible to minimize the copper wire of the surgical instrument parts 38 and 39, to enable a quick and accurate procedure, to ensure the stability of the surgery.

On the other hand, one side cross-section of the surgical instruments 38, 39 are attached to the various surgical instruments required for surgery. The surgical instrument parts 38 and 39 move along the guide rails 54 of the movable support part 52 and move to the surgical site of the patient. Then, the surgical instruments attached to the surgical instrument parts 38 and 39 enter the actual patient's body. Hereinafter, the structure of the surgical instrument parts 38 and 39 of this invention is demonstrated.

3 is a schematic diagram of a surgical instrument portion 38 in accordance with one embodiment of the present invention.

Surgical instrument parts 39 and 39 of the present invention are composed of a frame part 35 fastened to the movable support part 52 and an instrument part 37 attached to one end of the frame part 35.

As shown in the figure, the frame part 35 is configured to be attached to and detached from the moving support part 52. In addition, the frame part 35 may include a moveable configuration such as a roller so that the frame part 35 may be moved along the guide rail 54 of the moving support part 52.

In addition, the frame portion 35 is configured to include a frame of the date form for moving the instrument portion 35 to the surgical site of the patient. According to various surgical environments, since the instrument part 35 needs to adjust the position of the height, for this purpose, the frame part 35 may be configured to include a frame having a linearly adjustable length.

And, the mechanism portion 37 is a configuration corresponding to the surgical instrument used in the actual surgery, is attached to one end to the frame portion 35. Although the instrument part 37 is shown as a surgical forceps in the figure, this is one example of a number of surgical instruments. That is, various surgical instruments, such as an endoscope, a laparoscope, and a microsurgical microscope used at the time of the surgery, correspond to the mechanical unit 37.

Meanwhile, various surgical instruments are used during the surgery, depending on the type of surgery, the patient's condition, and the like. Therefore, during surgery, there is a case where the surgical instrument used by the operator must be replaced with another appropriate surgical instrument. Therefore, during minimally invasive surgery, where speed and precision are required, the operator must be able to efficiently replace the surgical instrument with a simple operation.

In order to replace the surgical instrument, the frame portion 35 to which the instrument portion 37 is attached may be replaced, and furthermore, the frame portion 35 remains on the robot arm 32 and only the instrument portion 37 is replaced. can do.

4 and 5, the surgical instrument portion 38 configured in the latter manner, that is, configured to replace only the instrument portion 37, will be described.

The mechanism part 37 of the present invention is configured to be detachable at one end of the frame part 35.

4 is a schematic diagram of a surgical instrument portion 38 configured to be detachable from the instrument portion 37 according to the first embodiment of the present invention, and FIG. 5 is a mechanism portion 37 according to the second embodiment of the present invention. A schematic diagram of a surgical instrument portion 38 configured to be detachable.

As shown in the figure, the present invention is connected to the frame portion 35 and the mechanism portion 37, respectively, the coupling portion 71 is configured to be mutually coupled, the coupling portion 71 and the frame portion 35 and mechanism portion And a connection portion 73 for connecting to 37, respectively.

Coupling portion 71 of the present invention is composed of a coupling member. Although shown in the figure as a cross-shaped coupling member, which is an example, the coupling portion 71 of the present invention includes a coupling member of various forms.

That is, the coupling portion 71 may be formed of a coupling member having a form that can be mutually coupled, such as well-known coupling protrusion and coupling groove, white paper protrusion and white paper groove. The cross-shaped coupling member in the figure is configured to be engaged when turned in opposite directions from each other in a position facing each other.

In the coupling portion 71 of the drawing, the coupling member connected to the frame portion 35 may be referred to as the first coupling portion 71, and the coupling member connected to the mechanism portion 37 may be referred to as the second coupling portion 71. have. In this case, the second coupling portion 71 should be composed of a coupling member corresponding to the first coupling portion 71, and configured so that the first coupling portion 71 and the second coupling portion 71 are fastened to each other and fixed. do.

Therefore, the operator fixes the first coupling part 71 and the second coupling part 71 to connect the frame part 35 and the mechanism part 37. The first coupling part 71 and the second coupling part The fastening of the 71 is performed to separate the frame portion 35 and the mechanism portion 37.

Due to the nature of minimally invasive surgery requiring rapidity and precision, the coupling portion 71 may be configured to be easily coupled and released by the operator.

Although two coupling portions 71 are shown in the drawing, the present invention may include a plurality of coupling portions 71 for a more rigid coupling of the frame portion 35 and the mechanism portion 37.

The connecting portion 73 of the present invention is configured to connect the first coupling portion 71 to the frame portion 35 and the second coupling portion 71 to the mechanism portion 37, respectively.

Figure 4 shows a connection 73 of the invention, consisting of wires, as a first embodiment of the invention. Each wire is attached to one end surface of the frame portion 35 or the mechanism portion 37 and one end surface of the coupling portion 71 to connect the frame portion 35 and the mechanism portion 37.

The wire according to the first embodiment of the present invention is preferably made of a material having no elasticity and little deformation of the form. This is to securely fasten and fix the coupling part 71 to the frame part 35 or the mechanism part 37.

Fig. 5 shows a connecting portion 73 of the present invention configured as a link connection structure as a second embodiment of the present invention. Each link connection structure is attached to one end surface of the frame portion 35 or the mechanism portion 37 and one end surface of the coupling portion 71 to connect the frame portion 35 and the mechanism portion 37.

In the link connection structure according to the second embodiment of the present invention, one or more frames are connected to each other, and each connected portion may be configured to be rotatable and / or movable. Therefore, each frame can move freely, so that the operator can easily move the coupling portion (71).

In addition, in order to securely connect the coupling portion 71 to the frame portion 35 or the mechanism portion 37, the connection portion 73 of the present invention may be composed of one or more wire or link connection structure.

Moreover, the connection part 73 of this invention can pull and move the 1st coupling part 71 to the frame part 35 direction, and the 2nd coupling part 71 to the mechanism part 37 direction. Accordingly, the frame part 35 or the mechanism part 37 fixed by each coupling part 71 is fastened to each other and fixed.

In addition, when the frame part 35 and the mechanism part 37 are fastened, the coupling part 71 and the connection part 73 of the present invention should be configured to be inserted into the frame part 35 and the mechanism part 37.

Meanwhile, one surface of the frame part 35 and the mechanism part 37 of the present invention may further include a fixing part (not shown) configured to be fastened and fixed to each other, such as a screw protrusion or a screw groove. This is to further fix the frame part 35 and the mechanism part 37 fastened by the coupling part 71 and the connection part 73.

Therefore, if it is necessary to replace the surgical instrument during the operation, the operator is currently disconnecting the mechanical portion 37 and the frame portion 35, the first coupling portion 71 and the second coupling portion 71 is disconnected Let's do it. Then, the operator selects the instrument portion 37 composed of the necessary surgical instruments, and connects the selected instrument portion 37 to the frame portion 35. That is, the first coupling part 71 is fixed to the second coupling part 71 connected to the selected mechanism part 37.

And using the connection part 73, the engaging part 71 is pulled in the direction of the corresponding frame part 35 or the mechanism part 37, and the frame part 35 and the mechanism part 37 mutually contact and fix.

In addition, in order to more securely fix the frame part 35 and the mechanism part 37, the frame part 35 and the mechanism part 37 are used by using the fixing part provided in the surface of the frame part 35 and the mechanism part 37. Fasten and fix it.

Through the above configuration, since the surgical instrument system of the present invention is configured to replace the surgical instrument quickly, the operator can respond quickly and appropriately to various situations that may occur during the operation. And, by enabling the correct procedure there is an effect that can also ensure the stability of the surgery. In addition, since the surgical instrument system of the present invention is configured to replace only the surgical instrument portion, there is an effect that can easily build a surgical instrument system at a low cost.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Of course.

1: slave robot 2: master input
10: master input device 12: display unit
14, 15: user control panel 16: signal processing section
20: surgical site 30: endoscope
32, 34, 36: robot arm 35: frame portion
37: Instrument part 38, 39, 40: Surgical instrument part
50: control signal bus 52: moving support
54: guide rail 62, 64: robot joint
71: coupling portion 73, 75: coupling portion
100: surgical robot system 140: base

Claims (12)

In the surgical instrument system attached to the surgical robot arm (arm), comprising a frame portion configured to be detachable on one surface of the surgical robot arm and a mechanism provided with a surgical instrument,
A first coupling part composed of a coupling member and connected to the frame part;
Comprising a coupling member corresponding to the first coupling portion, comprising a second coupling portion connected to the mechanism portion,
And the first coupling portion and the second coupling portion are configured to be fastened to each other. The method of claim 1,
And a first connection portion connecting the first coupling portion to the frame portion, and a second connection portion coupling the second coupling portion to the instrument portion. The method of claim 2,
The first connecting portion or the second connecting portion,
Surgical instrument system consisting of a wire. The method of claim 2,
The first connecting portion or the second connecting portion,
Surgical instrument system consisting of a link connection structure consisting of at least two frames are interconnected. The method of claim 2,
And the first connecting portion is configured to pull and move the first coupling portion in the direction of the frame portion and the second coupling portion is moved in the direction of the instrument portion. The method of claim 2,
And the first coupling portion and the first coupling portion are configured to be inserted into the frame portion, and the second coupling portion and the second coupling portion are configured to be inserted into the instrument portion. The method of claim 1,
Surgical instrument system provided on one surface of the frame portion and the instrument portion, the fixing portion is configured to be fixed to the frame portion and the instrument portion. In the surgical instrument system attached to the surgical robot arm (arm), comprising a frame portion configured to be detachable on one surface of the surgical robot arm and a mechanism provided with a surgical instrument,
A coupling part composed of a coupling member and configured to be connected to the frame part or the mechanism part;
And a connection portion configured to connect the engagement portion to the frame portion or the instrument portion. The method of claim 8,
The connecting portion
Surgical instrument system consisting of a wire. The method of claim 8,
The connecting portion
Surgical instrument system consisting of a link connection structure consisting of at least two frames are interconnected. The method of claim 8,
The coupling part and the connection part,
And a surgical instrument system configured to be inserted into the frame portion or the instrument portion. The method of claim 8,
Surgical instrument system provided on one surface of the frame portion and the instrument portion, the fixing portion is configured to be fixed to the frame portion and the instrument portion.

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