CN101870107B - Control system of auxiliary robot of orthopedic surgery - Google Patents
Control system of auxiliary robot of orthopedic surgery Download PDFInfo
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Abstract
The invention relates to a control system of an auxiliary robot of an orthopedic surgery, which belongs to the technical field of electromechanics and comprises an embedded central control module, a multi-axis movable control module, a plurality of alternating current servo drivers, a plurality of alternating current servo motors, a human-machine interactive module, a sensor module, a switch module, an indicator light module and an operating rod, wherein the embedded central control module comprises a system interface submodule, a state monitoring submodule, a network communicating submodule and a movable regulating submodule. The control system has high degree of freedom and strong applicability, can realize 7 degrees of freedom, has redundancy freedom, and is convenient for cooperative work of physicians. The control system has higher autonomy and open structure, can be used as a basic platform to be combined with various navigation systems, and has flexible operating modes, convenient manipulation and high positioning precision.
Description
Technical field
What the present invention relates to is the control system of the control system in a kind of mechanical ﹠ electrical technology field, particularly a kind of auxiliary robot of orthopedic surgery.
Background technology
The main target of auxiliary robot of orthopedic surgery is that auxiliary doctor finishes specific accurate operation in bone surgery.This robot can finish following several functions in operation: osteotomy is cut, grinding is holed, gripped etc.These operations are finished by robot has very big advantage, and one side is moved fairly simple, and robot can be competent at; Accuracy that these action needs are very high and stability on the other hand, and the location of manipulator is more more accurate than the people, stable and strong.Use the robotic assisted surgery doctor to finish the operation intensity that these operations of wasting time and energy can be lowered the doctor greatly, save operating time, improve homework precision, reduce the wound size, the muscular fatigue that can also avoid the doctor to keep the operation of certain posture to bring for a long time, and the muscular fatigue doctor's arm vibration that may cause, thereby the stability and the security of operation have been improved.
Auxiliary robot of orthopedic surgery is mainly by robot main body mechanism, and robot controller system and action bars etc. partly constitute.The fundamental mode of robot has two kinds: automated manner and manual mode.When robot is operated in auto state, accept the key instruction from navigation system, realize art preplanning predetermined actions, the operator doctor is termination machine human action and position, the attitude planned are adjusted by action bars at any time.When being operated in manual state, robot need an operator to cooperate, control robot motion by the operator doctor by action bars, pass through parameters such as interface setting speed, motion mode by the operator, and the people's complete operation that under operator doctor's password commander, starts the machine.This mainly is to consider that operator doctor inconvenience in surgical procedure uses mode such as touch-screen to finish the parameter input, and mode risks such as speech recognition are too big, and security can not get guaranteeing.Robot operator can be filled the post of by nurse or assistant.
Find through literature search prior art, Chinese patent application number is: 200710117890.4, patent name is: a kind of minimal access bone robot based on the 3D mouse action, this robot by horizontal moving assembly, decelerator assembly, move up and down assembly, forearm moving assembly, little arm component, wrist assembly and 3D mouse and form, wherein: the 3D mouse is installed on the little arm housing of little arm component, makes things convenient for the doctor to operate and controls.This 3D mouse contains six-freedom degree, can realize the six direction motion control in the cartesian coordinate system, but frame for movement itself does not realize the six-freedom degree motion in this technology, the 3D mouse can only be realized coarse positioning, and do not have from the main control function, implement bone surgery and have limitation.
Summary of the invention
The objective of the invention is to overcome the above-mentioned deficiency of prior art, a kind of control system of auxiliary robot of orthopedic surgery is provided.The present invention has realized the control to 7 free degree orthopaedics auxiliary robots, has the function that the assisted surgery doctor finishes specific accurate operation such as osteotomy, grinding, clamping location.
The present invention is achieved by the following technical solutions:
The present invention includes: embedded central control module, the multiaxial motion control module, some AC servo drivers, some AC servo motors, human-computer interaction module, sensor assembly, switch module, indicating lamp module and action bars, wherein: embedded central control module transmitting moving planning information and other the information that links to each other with the multiaxial motion control module by latter's transfer, embedded central control module links to each other with human-computer interaction module and transmits image display information and user's input information, the multiaxial motion control module links to each other with AC servo driver and transmits Electric Machine Control information, AC servo driver links to each other with AC servo motor and transmits motor-driven and motor encoder information, multiaxial motion control module link to each other with sensor assembly transmission each movable joint extreme position information and surrounding enviroment information, the multiaxial motion control module transmitting state information that links to each other with indicating lamp module, the transmission manual control control information that links to each other with action bars of the multiaxial motion control module transmitting switch information that links to each other with switch module, multiaxial motion control module.
Described embedded central control module comprises: the system interface submodule, the condition monitoring submodule, submodule is adjusted in network service submodule and motion, wherein: the system interface submodule transmission system running state information that links to each other with the condition monitoring submodule, submodule link to each other transmission system parameters and pose status information are adjusted in system interface submodule and motion, the condition monitoring submodule links to each other with motion adjustment submodule and transmits manual movement control command information, the network service submodule links to each other with motion adjustment submodule and transmits navigation information, the system interface submodule links to each other with human-computer interaction module, and transmission system parameters is set and state shows information, the condition monitoring submodule transmitting switch information that links to each other with switch module, condition monitoring submodule link to each other with sensor assembly transmission each movable joint extreme position information and surrounding enviroment information, the submodule transmitting moving planning information that links to each other with the multiaxial motion control module is adjusted in the transmission manual control control information that links to each other with action bars of condition monitoring submodule, motion.
Described system interface submodule comprises: the default unit, IO (input and output) status display unit, the pose display unit, parameter input unit and coordinate are demarcated the unit, wherein: the default unit transmission system set information that links to each other with human-computer interaction module, the parameter input unit transmission system parameters information that links to each other with the default unit, coordinate is demarcated the unit transmission of coordinate information that links to each other with the default unit, the submodule transmission system parameters information that links to each other is adjusted in parameter input unit and motion, coordinate is demarcated unit and motion and is adjusted the submodule transmission of coordinate transformation matrix parameter information that links to each other, the IO status display unit links to each other with the condition monitoring submodule and transmits the IO status information, and the pose display unit links to each other with motion adjustment submodule and transmits posture information.
Described condition monitoring submodule comprises: logic control element, IO signal reading unit and AD converting unit, wherein: logic control element links to each other with the system interface submodule and transmits the IO status information, the submodule transmitting moving status information that links to each other is adjusted in logic control element and motion, the IO signal reading unit transmission of digital amount IO information that links to each other with logic control element, the IO signal reading unit transmitting switch information that links to each other with switch module, the IO signal reading unit various status informations that transmission sensor detects that link to each other with sensor assembly, the AD converting unit links to each other with action bars and transmits the analog information of action bars input, and the AD converting unit links to each other with motion adjustment submodule and transmits the digital information that action bars is imported.
Described motion is adjusted submodule and is comprised: the motion planning unit, motion controller interface unit and motor status reading unit, wherein: the motion controller interface unit transmitting moving planning information that links to each other with the multiaxial motion control module, the motion controller interface unit links to each other with the motor status reading unit and transmits motor status information, the motor status reading unit links to each other with the network service submodule and transmits motor status information, the motor status reading unit links to each other with the system interface submodule and transmits motor status information, the motion controller interface unit transmitting moving planning information that links to each other with the motion planning unit, the motion planning unit links to each other with the system interface submodule and transmits the system parameter message of setting, control signal and switching information that the motion planning unit links to each other and transmits action bars with the condition monitoring submodule.
Described network service submodule comprises: the TCP/IP interface unit, command resolution unit and data upload unit, wherein: the submodule transferring robot posture information that links to each other is adjusted in data upload unit and motion, the data upload unit transferring robot attitude information that links to each other with the TCP/IP interface unit, link to each other with the TCP/IP interface unit command information of transmit outer equipment of command resolution unit, submodule link to each other transmitting moving control instruction and parameter information are adjusted in command resolution unit and motion, link to each other with the LAN control information of transferring robot attitude information and outside of TCP/IP interface unit.
Described switch module comprises: emergency stop push button, operation mode selection switch and redundant degree of freedom gauge tap, wherein: the emergency stop push button transmitting moving Stop message that links to each other with the multiaxial motion control module, the transferring robot redundant degree of freedom control information that links to each other with the multiaxial motion control module of the operation mode selection switch transmission action bars control module information that links to each other with the multiaxial motion control module, redundant degree of freedom gauge tap.
Compared with prior art, the invention has the beneficial effects as follows:
1, free degree height, applicability is strong.Prior art has only the 2-3 free degree mostly, is used for particular procedure, as knee prosthesis etc., and the operation auxiliary robot that the present invention relates to can be realized 7 frees degree, remove can finish any attitude do out of tradely, also have redundant degree of freedom, be convenient to work compound with the doctor.Submodule is adjusted in the motion of embedded central control module can realize resolving of redundant degree of freedom, guaranteeing that the end effector position and attitude meets the motion space of rationally dodging the doctor under the prerequisite of planning requirement, reaches collaborative auxiliary effect.
2, independence is higher, with at present existing complete manual distant operation robot the different of essence is arranged.
3, structure opening by multiple communication modes commonly used such as ICP/IP protocol, RS232/RS485 interfaces, can combine with various navigation system as basic platform.Flexible operation mode, both can be connected with autopilot, under the guiding of guider, finish the operation of art preplanning, also can be used as the assistive device of independently performing the operation and under doctor's operation, realize osteotomy, boring, grinding, surgical operation such as fixing as executing agency.
4, handiness, and positioning accuracy height.Submodule is adjusted in the motion of embedded central control module can realize dynamic coordinate planning, supports " by doing and illustrating " formula to handle, and is particularly useful for controlling the machine human needs in the operation.
Description of drawings
Fig. 1 is the schematic diagram that connects to form of embodiment system;
Fig. 2 is the composition connection diagram of embedded central control module.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment
As shown in Figure 1, present embodiment comprises: embedded central control module, the multiaxial motion control module, 7 AC servo drivers, 7 AC servo motors, human-computer interaction module, sensor assembly, switch module, indicating lamp module and action bars, wherein: embedded central control module transmitting moving planning information and other the information that links to each other with the multiaxial motion control module by latter's transfer, embedded central control module links to each other with human-computer interaction module and transmits image display information and user's input information, the multiaxial motion control module links to each other with AC servo driver and transmits Electric Machine Control information, AC servo driver links to each other with AC servo motor and transmits motor-driven and motor encoder information, multiaxial motion control module link to each other with sensor assembly transmission each movable joint extreme position information and surrounding enviroment information, the multiaxial motion control module transmitting state information that links to each other with indicating lamp module, the transmission manual control control information that links to each other with action bars of the multiaxial motion control module transmitting switch information that links to each other with switch module, multiaxial motion control module.
As shown in Figure 2, described embedded central control module comprises: the system interface submodule, the condition monitoring submodule, submodule is adjusted in network service submodule and motion, wherein: the system interface submodule transmission system running state information that links to each other with the condition monitoring submodule, submodule link to each other transmission system parameters and pose status information are adjusted in system interface submodule and motion, the condition monitoring submodule links to each other with motion adjustment submodule and transmits manual movement control command information, the network service submodule links to each other with motion adjustment submodule and transmits navigation information, the system interface submodule links to each other with human-computer interaction module, and transmission system parameters is set and state shows information, the condition monitoring submodule transmitting switch information that links to each other with switch module, condition monitoring submodule link to each other with sensor assembly transmission each movable joint extreme position information and surrounding enviroment information, the submodule transmitting moving planning information that links to each other with the multiaxial motion control module is adjusted in the transmission manual control control information that links to each other with action bars of condition monitoring submodule, motion.
Described system interface submodule provides graphical interfaces and accepts the user to the user by liquid crystal touch screen and touches, clicks input.Can finish the setting of parameters by this interface user, finish operations to system, and the running status of energy real-time monitoring system, comprise: the default unit, the IO status display unit, the pose display unit, parameter input unit and coordinate are demarcated the unit, wherein: the default unit transmission system set information that links to each other with human-computer interaction module, the parameter input unit transmission system parameters information that links to each other with the default unit, coordinate is demarcated the unit transmission of coordinate information that links to each other with the default unit, the submodule transmission system parameters information that links to each other is adjusted in parameter input unit and motion, coordinate is demarcated unit and motion and is adjusted the submodule transmission of coordinate transformation matrix parameter information that links to each other, the IO status display unit links to each other with the condition monitoring submodule and transmits the IO status information, and the pose display unit links to each other with motion adjustment submodule and transmits posture information.
Described condition monitoring submodule is the monitoring system state at any time, comprise the motor operating state that comes from multiaxial motion control module feedback, from user's input state of touch-screen input acquisition, from other peripheral informations of each sensor acquisition, from the user to set information of each gauge tap acquisition.These status informations will be shown to the user through after certain computing by liquid crystal touch screen, and trigger according to the condition of setting and to report to the police and operation such as promptly stop.This module comprises: logic control element, IO signal reading unit and AD converting unit, wherein: logic control element links to each other with the IO status display unit and transmits the IO status information, the submodule transmitting moving status information that links to each other is adjusted in logic control element and motion, the IO signal reading unit transmission of digital amount IO information that links to each other with logic control element, the IO signal reading unit transmitting switch information that links to each other with switch module, the IO signal reading unit various status informations that transmission sensor detects that link to each other with sensor assembly, the AD converting unit links to each other with action bars and transmits the analog information of action bars input, and the AD converting unit links to each other with motion adjustment submodule and transmits the digital information that action bars is imported.
Described motion is adjusted submodule and is comprised: the motion planning unit, motion controller interface unit and motor status reading unit, wherein: the motion controller interface unit transmitting moving planning information that links to each other with the multiaxial motion control module, the motion controller interface unit links to each other with the motor status reading unit and transmits motor status information, the motor status reading unit links to each other with the network service submodule and transmits motor status information, the motor status reading unit links to each other with the pose display unit and transmits motor status information, the motion controller interface unit transmitting moving planning information that links to each other with the motion planning unit, the link to each other system parameter message of transmission setting of unit is demarcated with parameter input unit and coordinate respectively in the motion planning unit, control signal and switching information that the motion planning unit links to each other with logic control element and transmits action bars with the AD converting unit respectively.
The difference of submodule according to operational mode adjusted in described motion, accepts the motion control commands from guider or user's manual ringing.According to the motion command type, the movement locus to robot in robotic joint space or cartesian coordinate space calculates, and comprises robot location, attitude and speed etc.Finally calculate the amount of exercise of each joint motor, be sent to the multiaxial motion control module according to robot kinematics's formula.The robot that present embodiment relates to has redundant degree of freedom and " by doing and illustrating " manipulation function, and these two functions are adjusted submodule by motion and come specific implementation, and are specific as follows:
It is constant that robot the 3rd joint remains on predefined angle in normal running, realizes operation by all the other 6 joints, similar to common 6DOF robot.In operation when the doctor thinks that robot pose has obstruction, only need touch the switch that is positioned at robot wrist, then controller control end effector of robot is by motion in the original plan; Controlling entire arms simultaneously is that axis rotates with shoulder joint and carpal line, realizes dodging of robot elbow joint, feels no longer to hinder its operation until the doctor, stops to touch switch.This mode can realize the real-time online adjustment of robot arm form under the prerequisite that does not influence the current operation of robot.
The doctor is by stirring action bars adjustment robot end's position and attitude, and orientation and angle that the built-in potentiometer measuring stick handle of action bars is struck are input to controller by the AD conversion.Control program is according to robot kinematics's method, and according to the orientation of the Attitude Calculation action bars of robot arm self, the control robot moves along the orientation that the doctor stirs; Movement velocity depends on the angle of stirring, angle then is to be determined by the dynamics that staff overcomes the driving lever back-moving spring, thereby can realize being proportional to the stepless speed regulation of operating physical force, make that whole adjustment process is very directly perceived, nature, without any need for extra study and training.
Described network service submodule adopts the TCP/IP procotol to realize communicating by letter with guider by LAN, reception is from the key instruction of guider, and oneself state fed back to guider, this module comprises: the TCP/IP interface unit, command resolution unit and data upload unit, wherein: the data upload unit transferring robot posture information that links to each other with the motor status reading unit, the data upload unit transferring robot attitude information that links to each other with the TCP/IP interface unit, link to each other with the TCP/IP interface unit command information of transmit outer equipment of command resolution unit, command resolution unit link to each other with the motion planning unit transmitting moving control instruction and parameter information, TCP/IP interface unit link to each other with LAN transferring robot attitude information and outside control information.
Described multiaxial motion control module adopts GTS-800-PV movement sequence controller of the prior art, be connected with embedded central control module by pci bus, can accept motion planning information from embedded central control module motion planning submodule, handle generation servomotor control signal as calculated according to given motion control method, send to each motor servo driver by signal cable, control each servomotor motion.Because multiaxial motion control module real-time height has also comprised the number of digital input/output end port, can handle the external signal that real-time is had relatively high expectations.Status signals such as the position of each servomotor that the multiaxial motion control module will be gathered, speed send embedded central control module to by pci bus, and this signal is as the usefulness of decision-making judgement.
Described AC servo driver and AC servo motor adopt peace of the prior art river Σ V series of products, accept the control signal from multi-axis motion control card, move according to control signal driven machine people.
Described human-computer interaction module adopts liquid crystal touch screen of the prior art, be the demonstration output and the touch input block of embedded central control module, comprise: liquid crystal display and the touch membrane parts that cover thereon, wherein: liquid crystal display links to each other with embedded central control module by the VGA interface, play the effect of computer display, touch membrane links to each other with embedded central control module by USB interface, touches the effect of playing the mouse input by point.
Described sensor assembly is each limit position sensor of robot, adopts each joint of microswitch detection machine people whether to reach the limit of the position, is transferred to the multiaxial motion control module by the digital I interface.
Described switch module comprises: emergency stop push button, operation mode selection switch and redundant degree of freedom gauge tap, and wherein: emergency stop push button links to each other with the multiaxial motion control module by the digital I interface, is used for stopping the robot motion in the urgent moment; Operation mode selection switch links to each other with the multiaxial motion control module by the digital I interface, is used for handover operation bar control model; The redundant degree of freedom gauge tap links to each other with the multiaxial motion control module by the digital I interface, is used to control the robot redundant degree of freedom to adjust the attitude of mechanical arm.
Present embodiment can be selected in use as required according to manual or automatic mode:
When robot is operated in auto state, embedded central control module is by the key instruction of network service submodule acceptance from navigation system, through resolving, carrying out movement locus by the motion planning submodule calculates, drive each joint motor by the multiaxial motion control module, allow robot realize the predetermined action of operation preplanning.In the process of implementation, the operator doctor can be by switch module termination machine human action and position, the attitude planned are adjusted by action bars at any time.This moment, embedded central control module read instruction from action bars by the condition monitoring submodule, carrying out movement locus through the motion planning submodule calculates, drive each joint motor by the multiaxial motion control module, allow robot realize the adjustment action that the doctor sets.
When being operated in manual state, robot need an operator to cooperate, control robot motion by the operator doctor by action bars, this moment, embedded central control module read instruction from action bars by the condition monitoring submodule, carrying out movement locus through the motion planning submodule calculates, drive each joint motor by the multiaxial motion control module, allow robot realize the adjustment action that the doctor sets.The operator cooperates the doctor, realizes the recorded key position by the system interface submodule, parameters such as setting speed, motion mode, and surgical action planning is finished at the scene, and the people's complete operation that starts the machine under operator doctor's password commander.This mainly is that computer operation is finished in consideration operator doctor inconvenience in surgical procedure, can fill the post of robot operator by nurse or assistant.
Present embodiment has 7 frees degree, and redundant degree of freedom is convenient to the work compound with the doctor; Can work in manual or automatic mode, have higher independence; Structure opening, flexible operation mode; Easy to operate, the positioning accuracy height is particularly useful for controlling the machine human needs in the operation.
Claims (1)
1. the control system of an auxiliary robot of orthopedic surgery, it is characterized in that, comprise: embedded central control module, the multiaxial motion control module, some AC servo drivers, some AC servo motors, human-computer interaction module, sensor assembly, switch module, indicating lamp module and action bars, wherein: embedded central control module transmitting moving planning information and other the information that links to each other with the multiaxial motion control module by latter's transfer, embedded central control module links to each other with human-computer interaction module and transmits image display information and user's input information, the multiaxial motion control module links to each other with AC servo driver and transmits Electric Machine Control information, AC servo driver links to each other with AC servo motor and transmits motor-driven and motor encoder information, multiaxial motion control module link to each other with sensor assembly transmission each movable joint extreme position information and surrounding enviroment information, the multiaxial motion control module transmitting state information that links to each other with indicating lamp module, the transmission manual control control information that links to each other with action bars of the multiaxial motion control module transmitting switch information that links to each other with switch module, multiaxial motion control module;
Described embedded central control module comprises: the system interface submodule, the condition monitoring submodule, submodule is adjusted in network service submodule and motion, wherein: the system interface submodule transmission system running state information that links to each other with the condition monitoring submodule, submodule link to each other transmission system parameters and pose status information are adjusted in system interface submodule and motion, the condition monitoring submodule links to each other with motion adjustment submodule and transmits manual movement control command information, the network service submodule links to each other with motion adjustment submodule and transmits navigation information, the system interface submodule links to each other with human-computer interaction module, and transmission system parameters is set and state shows information, the condition monitoring submodule transmitting switch information that links to each other with switch module, condition monitoring submodule link to each other with sensor assembly transmission each movable joint extreme position information and surrounding enviroment information, the submodule transmitting moving planning information that links to each other with the multiaxial motion control module is adjusted in the transmission manual control control information that links to each other with action bars of condition monitoring submodule, motion;
Described system interface submodule comprises: the default unit, the IO status display unit, the pose display unit, parameter input unit and coordinate are demarcated the unit, wherein: the default unit transmission system set information that links to each other with human-computer interaction module, the parameter input unit transmission system parameters information that links to each other with the default unit, coordinate is demarcated the unit transmission of coordinate information that links to each other with the default unit, the submodule transmission system parameters information that links to each other is adjusted in parameter input unit and motion, coordinate is demarcated unit and motion and is adjusted the submodule transmission of coordinate transformation matrix parameter information that links to each other, the IO status display unit links to each other with the condition monitoring submodule and transmits the IO status information, and the pose display unit links to each other with motion adjustment submodule and transmits posture information;
Described condition monitoring submodule comprises: logic control element, IO signal reading unit and AD converting unit, wherein: logic control element links to each other with the system interface submodule and transmits the IO status information, the submodule transmitting moving status information that links to each other is adjusted in logic control element and motion, the IO signal reading unit transmission of digital amount IO information that links to each other with logic control element, the IO signal reading unit transmitting switch information that links to each other with switch module, the IO signal reading unit various status informations that transmission sensor detects that link to each other with sensor assembly, the AD converting unit links to each other with action bars and transmits the analog information of action bars input, and the AD converting unit links to each other with motion adjustment submodule and transmits the digital information that action bars is imported;
Described motion is adjusted submodule and is comprised: the motion planning unit, motion controller interface unit and motor status reading unit, wherein: the motion controller interface unit transmitting moving planning information that links to each other with the multiaxial motion control module, the motion controller interface unit links to each other with the motor status reading unit and transmits motor status information, the motor status reading unit links to each other with the network service submodule and transmits motor status information, the motor status reading unit links to each other with the system interface submodule and transmits motor status information, the motion controller interface unit transmitting moving planning information that links to each other with the motion planning unit, the motion planning unit links to each other with the system interface submodule and transmits the system parameter message of setting, control signal and switching information that the motion planning unit links to each other and transmits action bars with the condition monitoring submodule;
Described network service submodule comprises: the TCP/IP interface unit, command resolution unit and data upload unit, wherein: the submodule transferring robot posture information that links to each other is adjusted in data upload unit and motion, the data upload unit transferring robot attitude information that links to each other with the TCP/IP interface unit, link to each other with the TCP/IP interface unit command information of transmit outer equipment of command resolution unit, submodule link to each other transmitting moving control instruction and parameter information are adjusted in command resolution unit and motion, link to each other with the LAN control information of transferring robot attitude information and outside of TCP/IP interface unit;
Described switch module comprises: emergency stop push button, operation mode selection switch and redundant degree of freedom gauge tap, wherein: the emergency stop push button transmitting moving Stop message that links to each other with the multiaxial motion control module, the transferring robot redundant degree of freedom control information that links to each other with the multiaxial motion control module of the operation mode selection switch transmission action bars control module information that links to each other with the multiaxial motion control module, redundant degree of freedom gauge tap.
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