Method and apparatus for performing 2D to 3D registration

Number of patents in Portfolio can not be more than 2000

United States of America Patent

PATENT NO

7570791

APP PUB NO

20040215071A1

SERIAL NO

10644680

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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A method and apparatus for performing 2D to 3D registration includes an initialization step and a refinement step. The initialization step is directed to identifying an orientation and a position by knowing orientation information where data images are captured and by identifying centers of relevant bodies. The refinement step uses normalized mutual information and pattern intensity algorithms to register the 2D image to the 3D volume.

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Patent Owner(s)

Patent OwnerAddressTotal Patents
MEDTRONIC NAVIGATION, INC.LOUISVILLE, CO139

International Classification(s)

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Frank, Kevin J Lafayette , US 20 788
Mark, Kevin E Westminster , US 4 182

Cited Art Landscape

Patent Info (Count) # Cites Year
 
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PHILIPS ELECTRONICS LTD (1)
5834759 Tracking device having emitter groups with different emitting directions 139 1997
 
STEVEN M. HOFFBERG 2004-1 GRAT (2)
2002/0151,992 Media recording device with packet data interface 66 2002
2002/0151,992 Media recording device with packet data interface 66 2002
 
INTEGRA BURLINGTON MA, INC. (4)
5160337 Curved-shaped floor stand for use with a linear accelerator in radiosurgery 122 1990
5230623 Operating pointer with interactive computergraphics 607 1991
6122541 Head band for frameless stereotactic registration 256 1996
5947981 Head and neck localizer 152 1997
 
HITACHI MEDICAL CORPORATION (1)
5448610 Digital X-ray photography device 108 1994
 
SANDSTROM, GUNBRITT VIVIAN MONICA (1)
4617925 Adapter for definition of the position of brain structures 158 1984
 
ENTERPRISE MEDICAL TECHNOLOGIES, INC. (1)
6499488 Surgical sensor 195 1999
 
SOLANA SURGICAL, LLC (1)
5968047 Fixation devices 450 1998
 
SIEMENS ELEMA AB (1)
5758667 Device for locating a port on a medical implant 168 1996
 
BRAINLAB AG (8)
6611700 Method and apparatus for positioning a body for radiation using a position sensor 134 1999
6516046 Exact patient positioning by compairing reconstructed x-ray images and linac x-ray images 177 2000
6428547 Detection of the shape of treatment devices 134 2000
6609022 Intraoperative navigation updating 117 2001
6640128 Method and device for the navigation-assisted dental treatment 132 2001
6551325 Device, system and method for determining the position of an incision block 214 2001
6584174 Registering image information 138 2001
6694162 Navigated microprobe 150 2001
 
ORION-YHTYMA OY, A FINNISH BODY CORPORATE (1)
5107843 Method and apparatus for thin needle biopsy in connection with mammography 112 1991
 
BRAINLAB MED. COMPUTERSYSTEME GMBH (6)
5702406 Device for noninvasive stereotactic immobilization in reproducible position 127 1995
5769861 Method and devices for localizing an instrument 250 1996
6351659 Neuro-navigation system 221 1997
6178345 Method for detecting the exact contour of targeted treatment areas, in particular, the external contour 108 1999
6424856 Method for the localization of targeted treatment areas in soft body parts 139 1999
6527443 Process and apparatus for image guided treatment with an integration of X-ray detection and navigation system 207 1999
 
PROF. DR. SCHLONDORFF, GEORGE (1)
5186174 Process and device for the reproducible optical representation of a surgical operation 288 1990
 
KABUSHIKI KAISHA TOSHIBA (2)
4923459 Stereotactics apparatus 168 1988
5285787 Apparatus for calculating coordinate data of desired point in subject to be examined 110 1992
 
GE MEDICAL SYSTEMS GLOBAL TECHNOLOGY COMPANY, LLC (24)
5333168 Time-based attenuation compensation 101 1993
5400384 Time-based attenuation compensation 101 1994
5503416 Undercarriage for X-ray diagnostic equipment 123 1994
5426683 One piece C-arm for X-ray diagnostic equipment 107 1994
5619261 Pixel artifact/blemish filter for use in CCD video camera 97 1994
5829444 Position tracking and imaging system for use in medical applications 282 1994
5583909 C-arm mounting structure for mobile X-ray imaging system 134 1994
5596228 Apparatus for cooling charge coupled device imaging systems 132 1995
5627873 Mini C-arm assembly for mobile X-ray imaging system 121 1995
5617462 Automatic X-ray exposure control system and method of use 132 1995
5642395 Imaging chain with miniaturized C-arm assembly for mobile X-ray imaging system 106 1995
5803089 Position tracking and imaging system for use in medical applications 247 1995
5676673 Position tracking and imaging system with error detection for use in medical applications 535 1996
5800352 Registration system for use with position tracking and imaging system for use in medical applications 259 1996
5873822 Automatic registration system for use with position tracking and imaging system for use in medical applications 264 1996
5967980 Position tracking and imaging system for use in medical applications 300 1996
5802719 One piece C-arm for X-ray diagnostic equipment 106 1997
6445943 Position tracking and imaging system for use in medical applications 239 1998
6175756 Position tracking and imaging system for use in medical applications 164 1998
6285902 Computer assisted targeting device for use in orthopaedic surgery 301 1999
6484049 Fluoroscopic tracking and visualization system 183 2000
6490475 Fluoroscopic tracking and visualization system 212 2000
6341231 Position tracking and imaging system for use in medical applications 198 2000
6478802 Method and apparatus for display of an image guided drill bit 120 2001
 
INTEGRA LIFESCIENCES CORPORATION (1)
5197965 Skull clamp pin assembly 117 1992
 
Mitutoyo Mfg. Co., Ltd. (1)
4743770 Profile-measuring light probe using a change in reflection factor in the proximity of a critical angle of light 141 1986
 
INTERNATIONAL BUSINESS MACHINES CORPORATION (14)
5086401 Image-directed robotic system for precise robotic surgery including redundant consistency checking 637 1990
5059789 Optical position and orientation sensor 308 1990
5417210 System and method for augmentation of endoscopic surgery 827 1992
5279309 Signaling device and method for monitoring positions in a surgical operation 484 1992
5976156 Stereotaxic apparatus and method for moving an end effector 208 1993
5408409 Image-directed robotic system for precise robotic surgery including redundant consistency checking 464 1993
5445166 System for advising a surgeon 441 1994
5695500 System for manipulating movement of a surgical instrument with computer controlled brake 377 1994
5402801 System and method for augmentation of surgery 370 1994
5950629 System for assisting a surgeon during surgery 315 1994
5630431 System and method for augmentation of surgery 331 1994
5572999 Robotic system for positioning a surgical instrument relative to a patient's body 519 1995
5749362 Method of creating an image of an anatomical feature where the feature is within a patient's body 409 1995
6024695 System and method for augmentation of surgery 240 1999
 
SMITHS MEDICAL MD, INC. (3)
4905698 Method and apparatus for catheter location determination 258 1988
5386828 Guide wire apparatus with location sensing member 177 1993
5749835 Method and apparatus for location of a catheter tip 167 1997
 
SIEMENS AKTIENGESELLSCHAFT (4)
4368536 Diagnostic radiology apparatus for producing layer images 94 1980
5042486 Catheter locatable with non-ionizing field and method for locating same 434 1990
5152288 Apparatus and method for measuring weak, location-dependent and time-dependent magnetic fields 129 1991
5265611 Apparatus for measuring weak, location-dependent and time-dependent magnetic field 114 1992
 
CHITTENDEN BANK (3)
5307072 Non-concentricity compensation in position and orientation measurement systems 183 1992
5453686 Pulsed-DC position and orientation measurement system 214 1993
5640170 Position and orientation measuring system having anti-distortion source configuration 166 1995
 
INTEGRA RADIONICS, INC. (4)
5662111 Process of stereotactic optical navigation 316 1995
6006126 System and method for stereotactic registration of image scan data 452 1995
5971997 Intraoperative recalibration apparatus for stereotactic navigators 160 1997
5921992 Method and system for frameless tool calibration 204 1997
 
Biomagnetic Technologies, Inc. (1)
4793355 Apparatus for process for making biomagnetic measurements 202 1987
 
ENGILITY CORPORATION (1)
5531520 System and method of registration of three-dimensional data sets including anatomical body data 315 1994
 
BAE SYSTEMS PLC (2)
4849692 Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields 360 1986
4945305 Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields 462 1989
 
Fonar Corporation (1)
5647361 Magnetic resonance imaging method and apparatus for guiding invasive therapy 318 1993
 
MEDIGUIDE LTD. (1)
6233476 Medical positioning system 584 1999
 
Quantime, Inc. (1)
4753528 Laser archery distance device 175 1985
 
VEXCEL IMAGING CORPORATION (1)
4829373 Stereo mensuration apparatus 141 1987
 
DEUTSCHES KREBSFORSCHUNGSZENTRUM (1)
5315630 Positioning device in medical apparatus 153 1993
 
HARRIS GRAPHICS CORPORATION (1)
4719419 Apparatus for detecting a rotary position of a shaft 127 1985
 
EP Technologies, Inc. (3)
5487391 Systems and methods for deriving and displaying the propagation velocities of electrical events in the heart 198 1994
5485849 System and methods for matching electrical characteristics and propagation velocities in cardiac tissue 182 1994
5546940 System and method for matching electrical characteristics and propagation velocities in cardiac tissue to locate potential ablation sites 126 1995
 
KLIEGIS, ULRICH (1)
5715836 Method and apparatus for planning and monitoring a surgical operation 174 1995
 
MED INSTITUTE, INC. (1)
4961422 Method and apparatus for volumetric interstitial conductive hyperthermia 185 1988
 
NEUTAR L.L.C. (2)
6273896 Removable frames for stereotactic localization 177 1998
6298262 Instrument guidance for stereotactic surgery 191 2001
 
SMITH & NEPHEW RICHARDS INC. (1)
5013317 Medical drill assembly transparent to X-rays and targeting drill bit 144 1990
 
ELBIT SYSTEMS LTD. (1)
5646524 Three dimensional tracking system employing a rotating field 132 1993
 
Instrumentarium Oy (1)
4543959 Diagnosis apparatus and the determination of tissue structure and quality 185 1985
 
KODAK GRAPHIC COMMUNICATIONS CANADA COMPANY (1)
5305091 Optical coordinate measuring system for large objects 160 1992
 
VIP Industries Limited (1)
5458718 Heat sealing method for making a luggage case 93 1994
 
CALIFORNIA INSTITUTE OF COMPUTER ASSISTED SURGERY INC (1)
6167296 Method for volumetric image navigation 282 1999
 
CCS TECHNOLOGY, INC. (1)
5543951 Method for receive-side clock supply for video signals digitally transmitted with ATM in fiber/coaxial subscriber line networks 114 1995
 
NEUROTECH USA, INC. (1)
5871487 Microdrive for use in stereotactic surgery 171 1997
 
LUNAR CORPORATION (2)
5480439 Method for periprosthetic bone mineral density measurement 124 1994
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OEC MEDICAL SYSTEMS, INC. (2)
4797907 Battery enhanced power generation for mobile X-ray machine 143 1987
RE35025 Battery enhanced power generation for mobile X-ray machine 102 1991
 
TURON AB A CORPORATION OF SWEDEN (1)
4727565 Method of localization 165 1984
 
Image Guided Technologies, Inc. (6)
5622170 Apparatus for determining the position and orientation of an invasive portion of a probe inside a three-dimensional body 408 1994
RE35816 Method and apparatus for three-dimensional non-contact shape sensing 220 1995
5617857 Imaging system having interactive medical instruments and methods 327 1995
5987349 Method for determining the position and orientation of two moveable objects in three-dimensional space 188 1997
5907395 Optical fiber probe for position measurement 149 1997
5920395 System for locating relative positions of objects in three dimensional space 238 1997
 
SIEMENS MEDICAL SOLUTIONS USA, INC. (2)
6122538 Motion--Monitoring method and system for medical devices 248 1997
5923727 Method and apparatus for calibrating an intra-operative X-ray system 117 1997
 
COMPASS INTERNATIONAL, INC. (2)
5483961 Magnetic field digitizer for stereotactic surgery 270 1994
5787886 Magnetic field digitizer for stereotatic surgery 157 1995
 
SIEMENS MEDICAL SYSTEMS, INC. (2)
5446548 Patient positioning and monitoring system 344 1993
5820553 Identification system and method for radiation therapy 258 1996
 
GENERAL ELECTRIC COMPANY (19)
4358856 Multiaxial x-ray apparatus 173 1980
5211165 Tracking system to follow the position and orientation of a device with radiofrequency field gradients 493 1991
5251635 Stereoscopic X-ray fluoroscopy system using radiofrequency fields 240 1991
5255680 Automatic gantry positioning for imaging systems 271 1991
5265610 Multi-planar X-ray fluoroscopy system using radiofrequency fields 268 1991
5274551 Method and apparatus for real-time navigation assist in interventional radiological procedures 211 1991
5271400 Tracking system to monitor the position and orientation of a device using magnetic resonance detection of a sample contained within the device 274 1992
5318025 Tracking system to monitor the position and orientation of a device using multiplexed magnetic resonance detection 307 1992
5353795 Tracking system to monitor the position of a device using multiplexed magnetic resonance detection 185 1992
5445150 Invasive system employing a radiofrequency tracking system 215 1993
5377678 Tracking system to follow the position and orientation of a device with radiofrequency fields 333 1993
5437277 Inductively coupled RF tracking system for use in invasive imaging of a living body 299 1994
5419325 Magnetic resonance (MR) angiography using a faraday catheter 159 1994
5443066 Invasive system employing a radiofrequency tracking system 238 1994
5611025 Virtual internal cavity inspection system 159 1994
5730129 Imaging of interventional devices in a non-stationary subject 209 1995
5715822 Magnetic resonance devices suitable for both tracking and imaging 202 1995
5740802 Computer graphic and live video system for enhancing visualization of body structures during surgery 249 1995
6437567 Radio frequency coil for open magnetic resonance imaging system 129 1999
 
General Electric CGR S.A. (1)
5219351 Mammograph provided with an improved needle carrier 172 1991
 
FUJI PHOTO OPTICAL CO., LTD. (1)
5211176 Ultrasound examination system 142 1991
 
B.V. OPTISCHE INDUSTRIE "DE OUDE DELFT" (1)
4701049 Measuring system employing a measuring method based on the triangulation principle for the non-contact measurement of a distance from the surface of a contoured object to a reference level. _ 156 1984
 
RUDOLPH TECHNOLOGIES, INC. (1)
4822163 Tracking vision sensor 135 1986
 
COMPUMEDICS GERMANY GMBH (1)
5514146 Device for accomodating at least one sonographic probe 89 1994
 
Schneider Medical Technologies, Inc. (1)
5531227 Imaging device and method 309 1994
 
C.R. BARD, INC. (1)
5423334 Implantable medical device characterization system 287 1993
 
CARL ZEISS INDUSTRIELLE MESSTECHNIK GMBH (1)
5884410 Sensing system for coordinate measuring equipment 110 1996
 
SCHNEIDER (USA) INC. (1)
5792055 Guidewire antenna 199 1996
 
SATO, YUKIO, WAKAMIZU-JUTAKU #1-45, 2-2-8, WAKAMIZU, CHIKUSA-KU, NAGOYA-SHI, AICHI, JAPAN (1)
4794262 Method and apparatus for measuring profile of three-dimensional object 192 1986
 
Sextant Avionique (2)
5109194 Electromagnetic position and orientation detector for a pilot's helmet 106 1990
5457641 Method and apparatus for determining an orientation associated with a mobile system, especially a line of sight inside a helmet visor 101 1994
 
Laboratory Equipment, Corp. (1)
4951653 Ultrasound brain lesioning system 269 1988
 
HOWMEDICA INTERNATIONAL S. DE R.L. (2)
4418422 Aiming device for setting nails in bones 145 1981
4625718 Aiming apparatus 121 1985
 
REVLON CONSUMER PRODUCTS CORPORATION (1)
5999837 Localizing and orienting probe for view devices 126 1997
 
MAYO MEDICAL VENTURES (1)
5568384 Biomedical imaging and analysis 186 1992
 
Neurodynamics, Inc. (1)
4931056 Catheter guide apparatus for perpendicular insertion into a cranium orifice 219 1988
 
Carl-Zeiss-Stiftung (4)
4660970 Method and apparatus for the contact-less measuring of objects 148 1984
4825091 Optoelectronic distance sensor with visible pilot beam 167 1988
5359417 Surgical microscope for conducting computer-supported stereotactic microsurgery and a method for operating the same 151 1992
5795294 Procedure for the correlation of different coordinate systems in computer-supported, stereotactic surgery 135 1995
* Cited By Examiner

Patent Citation Ranking

Forward Cite Landscape

Patent Info (Count) # Cites Year
 
HITACHI MEDICAL CORPORATION (1)
9471981 Reference image display method for ultrasonography and ultrasonic diagnosis apparatus 0 2012
 
MEDTRONIC NAVIGATION, INC. (14)
8175681 Combination of electromagnetic and electropotential localization 27 2008
8238631 System and method for automatic registration between an image and a subject 10 2009
* 2010/0290,690 System And Method For Automatic Registration Between An Image And A Subject 16 2009
8060185 Navigation system for cardiac therapies 44 2009
8046052 Navigation system for cardiac therapies 41 2010
8717430 System and method for radio-frequency imaging, registration, and localization 1 2010
8503745 System and method for automatic registration between an image and a subject 5 2010
8706185 Method and apparatus for surgical navigation of a multiple piece construct for implantation 3 2010
8467851 Method and apparatus for positioning a reference frame 4 2010
8401616 Navigation system for cardiac therapies 39 2011
8467853 Navigation system for cardiac therapies 10 2011
8737708 System and method for automatic registration between an image and a subject 1 2012
8731641 Combination of electromagnetic and electropotential localization 4 2012
8644570 System and method for automatic registration between an image and a subject 0 2012
 
SIEMENS HEALTHCARE GMBH (2)
* 8244064 Method for registering and merging medical image data 3 2005
* 2005/0245,807 Method for registering and merging medical image data 8 2005
 
HITACHI, LTD. (2)
* 8226560 Reference image display method for ultrasonography and ultrasonic diagnosis apparatus 4 2004
* 2007/0010,743 Reference image display method for ultrasonography and ultrasonograph 16 2004
 
MEDTRONIC, INC. (4)
8494613 Combination localization system 10 2010
9393361 Method to determine a material distribution 0 2012
9020224 Volume of efficacy model capture 1 2012
9008752 Method to determine distribution of a material by an infused magnetic resonance image contrast agent 1 2012
 
THE UNITED STATES OF AMERICA, AS REPRESENTED BY THE SECRETARY, DEPARTMENT OF HEALTH AND HUMAN SERVICES (1)
9398892 Device and method for a trackable ultrasound 0 2006
 
MYRIAD GROUP AG (1)
* 2010/0195,919 DEVICE AND METHOD FOR SUPERIMPOSING PATTERNS ON IMAGES IN REAL-TIME, PARTICULARLY FOR GEOGRAPHIC GUIDANCE 2 2010
 
BRAINLAB AG (2)
* 8031922 Registration of imaging data 1 2007
* 2008/0049,014 REGISTRATION OF IMAGING DATA 3 2007
 
NUVASIVE, INC. (1)
9510771 Systems and methods for performing spine surgery 0 2012
 
Canon Kabushiki Kaisha (3)
* 2013/0093,995 OPHTHALMIC APPARATUS, OPHTHALMIC IMAGE PROCESSING METHOD, AND RECORDING MEDIUM 1 2012
* 9408532 Image processing apparatus and image processing method 0 2013
* 2013/0235,342 IMAGE PROCESSING APPARATUS AND IMAGE PROCESSING METHOD 0 2013
 
KONINKLIJKE PHILIPS ELECTRONICS N.V. (2)
* 8942457 Navigating an interventional device 0 2011
* 2013/0101,196 NAVIGATING AN INTERVENTIONAL DEVICE 0 2011
 
INTERNATIONAL BUSINESS MACHINES CORPORATION (2)
9185289 Generating a composite field of view using a plurality of oblique panoramic images of a geographic area 0 2013
9219858 Generating a composite field of view using a plurality of oblique panoramic images of a geographic area 0 2013
 
GENERAL ELECTRIC COMPANY (3)
* 8041093 System and method for definition of DICOM header values 2 2005
* 2006/0239,589 System and method for definition of DICOM header values 3 2005
8379956 System and method for definition of DICOM header values 0 2011
 
HANWHA TECHWIN CO., LTD. (1)
9126338 Robot system and method for driving the same 0 2013
 
TOSHIBA MEDICAL SYSTEMS CORPORATION (4)
* 7940976 X-ray image diagnosis apparatus and a method for generating image data 2 2007
* 2008/0063,250 X-RAY IMAGE DIAGNOSIS APPARATUS AND A METHOD FOR GENERATING IMAGE DATA 2 2007
* 8351566 PET device 0 2009
* 2010/0166,137 PET DEVICE 0 2009
 
CHONGQING HAIFU MEDICAL TECHNOLOGY CO., LTD. (1)
* 2009/0054,772 Focused Ultrasound Therapy System 15 2005
 
KONICA MINOLTA MEDICAL & GRAPHIC, INC. (1)
* 8036443 Image processing method and image processor 0 2006
 
CAPSOVISION, INC. (1)
* 2009/0074,265 IMAGING REVIEW AND NAVIGATION WORKSTATION SYSTEM 7 2007
 
INTUITIVE SURGICAL OPERATIONS, INC. (6)
* 8126223 Device and method for superimposing patterns on images in real-time, particularly for guiding by localisation 1 2004
* 2007/0147,707 Device and method for superimposing patterns on images in real-time, particularly for guiding by localisation 12 2004
8086008 Device and method for superimposing patterns on images in real-time, particularly for guiding by localisation 2 2010
* 8712125 Device and method for superimposing patterns on images in real time, particularly for guidance by location 2 2011
* 2012/0130,167 DEVICE AND METHOD FOR SUPERIMPOSING PATTERNS ON IMAGES IN REAL TIME, PARTICULARLY FOR GUIDANCE BY LOCATION 2 2011
* 9486159 Device and method for superimposing patterns on images in real time, particularly for guidance by location 0 2014
 
REGENTS OF THE UNIVERSITY OF MINNESOTA (1)
8494614 Combination localization system 14 2010
 
RENISHAW (IRELAND) LIMITED (1)
9463073 Method and apparatus for analysing images 0 2011
 
STRYKER EUROPEAN HOLDINGS I, LLC (6)
* 2011/0019,884 Stereotactic Computer Assisted Surgery Based On Three-Dimensional Visualization 4 2009
* 2009/0209,851 Stereotactic computer assisted surgery method and system 4 2009
* 2011/0213,379 COMPUTER ASSISTED SURGERY SYSTEM 8 2010
* 8675939 Registration of anatomical data sets 14 2010
* 2012/0016,269 Registration of Anatomical Data Sets 4 2010
9517107 Surgical targeting system and method 0 2010
 
ACCUMIS INC. (2)
* 8311365 Analysis method for regional image 0 2009
* 2011/0026,802 Analysis Method for Regional Image 0 2009
 
EMORY UNIVERSITY (2)
* 8774481 Atlas-assisted synthetic computed tomography using deformable image registration 4 2011
* 2011/0235,884 Atlas-Assisted Synthetic Computed Tomography Using Deformable Image Registration 4 2011
 
United States of America (1)
7722565 Access system 21 2005
 
PHILIPS ELECTRONICS LTD (4)
* 7805269 Device and method for ensuring the accuracy of a tracking device in a volume 5 2005
7751868 Integrated skin-mounted multifunction device for use in image-guided surgery 12 2005
8611983 Method and apparatus for guiding an instrument to a target in the lung 5 2006
8632461 System, method and apparatus for navigated therapy and diagnosis 20 2006
* Cited By Examiner

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