Middle-Ear Microsurgery Simulation to Improve New Robotic Procedures
Identifieur interne : 001043 ( Main/Exploration ); précédent : 001042; suivant : 001044Middle-Ear Microsurgery Simulation to Improve New Robotic Procedures
Auteurs : Guillaume Kazmitcheff [France] ; Yann Nguyen [France] ; Mathieu Miroir [France] ; Fabien Péan [France] ; Evelyne Ferrary [France] ; Stéphane Cotin [France] ; Olivier Sterkers [France] ; Christian Duriez [France]Source :
- BioMed Research International [ 2314-6133 ] ; 2014.
Abstract
Otological microsurgery is delicate and requires high dexterity in bad ergonomic conditions. To assist surgeons in these indications, a teleoperated system, called RobOtol, is developed. This robot enhances gesture accuracy and handiness and allows exploration of new procedures for middle ear surgery. To plan new procedures that exploit the capacities given by the robot, a surgical simulator is developed. The simulation reproduces with high fidelity the behavior of the anatomical structures and can also be used as a training tool for an easier control of the robot for surgeons. In the paper, we introduce the middle ear surgical simulation and then we perform virtually two challenging procedures with the robot. We show how interactive simulation can assist in analyzing the benefits of robotics in the case of complex manipulations or ergonomics studies and allow the development of innovative surgical procedures. New robot-based microsurgical procedures are investigated. The improvement offered by RobOtol is also evaluated and discussed.
Url:
DOI: 10.1155/2014/891742
PubMed: 25157373
PubMed Central: 4135140
Affiliations:
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Paris, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>INSERM, “Minimally Invasive Robot-Based Hearing Rehabilitation”, UMR_S 1159, 75005 Paris</wicri:regionArea><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Paris</settlement></placeName></affiliation><affiliation wicri:level="3"><nlm:aff id="I2">Sorbonne University, UPMC Univ Paris 06, UMR_S 1159, 75005 Paris, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>Sorbonne University, UPMC Univ Paris 06, UMR_S 1159, 75005 Paris</wicri:regionArea><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Paris</settlement></placeName></affiliation><affiliation wicri:level="3"><nlm:aff id="I4">AP-HP, Otolaryngology Department, Unit of Otology, Auditory Implants and Skull Base Surgery, Hospital Pitié Salpêtrière, 75013 Paris, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>AP-HP, Otolaryngology Department, Unit of Otology, Auditory Implants and Skull Base Surgery, Hospital Pitié Salpêtrière, 75013 Paris</wicri:regionArea><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Paris</settlement></placeName></affiliation></author><author><name sortKey="Miroir, Mathieu" sort="Miroir, Mathieu" uniqKey="Miroir M" first="Mathieu" last="Miroir">Mathieu Miroir</name><affiliation wicri:level="3"><nlm:aff id="I1">INSERM, “Minimally Invasive Robot-Based Hearing Rehabilitation”, UMR_S 1159, 75005 Paris, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>INSERM, “Minimally Invasive Robot-Based Hearing Rehabilitation”, UMR_S 1159, 75005 Paris</wicri:regionArea><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Paris</settlement></placeName></affiliation><affiliation wicri:level="3"><nlm:aff id="I2">Sorbonne University, UPMC Univ Paris 06, UMR_S 1159, 75005 Paris, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>Sorbonne University, UPMC Univ Paris 06, UMR_S 1159, 75005 Paris</wicri:regionArea><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Paris</settlement></placeName></affiliation></author><author><name sortKey="Pean, Fabien" sort="Pean, Fabien" uniqKey="Pean F" first="Fabien" last="Péan">Fabien Péan</name><affiliation wicri:level="3"><nlm:aff id="I3">Shacra, INRIA, University Lille 1, 59650 Villeneuve d'Ascq, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>Shacra, INRIA, University Lille 1, 59650 Villeneuve d'Ascq</wicri:regionArea><placeName><region type="region" nuts="2">Nord-Pas-de-Calais-Picardie</region><region type="old region" nuts="2">Nord-Pas-de-Calais</region><settlement type="city">Villeneuve d'Ascq</settlement></placeName></affiliation></author><author><name sortKey="Ferrary, Evelyne" sort="Ferrary, Evelyne" uniqKey="Ferrary E" first="Evelyne" last="Ferrary">Evelyne Ferrary</name><affiliation wicri:level="3"><nlm:aff id="I1">INSERM, “Minimally Invasive Robot-Based Hearing Rehabilitation”, UMR_S 1159, 75005 Paris, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>INSERM, “Minimally Invasive Robot-Based Hearing Rehabilitation”, UMR_S 1159, 75005 Paris</wicri:regionArea><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Paris</settlement></placeName></affiliation><affiliation wicri:level="3"><nlm:aff id="I2">Sorbonne University, UPMC Univ Paris 06, UMR_S 1159, 75005 Paris, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>Sorbonne University, UPMC Univ Paris 06, UMR_S 1159, 75005 Paris</wicri:regionArea><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Paris</settlement></placeName></affiliation><affiliation wicri:level="3"><nlm:aff id="I4">AP-HP, Otolaryngology Department, Unit of Otology, Auditory Implants and Skull Base Surgery, Hospital Pitié Salpêtrière, 75013 Paris, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>AP-HP, Otolaryngology Department, Unit of Otology, Auditory Implants and Skull Base Surgery, Hospital Pitié Salpêtrière, 75013 Paris</wicri:regionArea><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Paris</settlement></placeName></affiliation></author><author><name sortKey="Cotin, Stephane" sort="Cotin, Stephane" uniqKey="Cotin S" first="Stéphane" last="Cotin">Stéphane Cotin</name><affiliation wicri:level="3"><nlm:aff id="I3">Shacra, INRIA, University Lille 1, 59650 Villeneuve d'Ascq, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>Shacra, INRIA, University Lille 1, 59650 Villeneuve d'Ascq</wicri:regionArea><placeName><region type="region" nuts="2">Nord-Pas-de-Calais-Picardie</region><region type="old region" nuts="2">Nord-Pas-de-Calais</region><settlement type="city">Villeneuve d'Ascq</settlement></placeName></affiliation></author><author><name sortKey="Sterkers, Olivier" sort="Sterkers, Olivier" uniqKey="Sterkers O" first="Olivier" last="Sterkers">Olivier Sterkers</name><affiliation wicri:level="3"><nlm:aff id="I1">INSERM, “Minimally Invasive Robot-Based Hearing Rehabilitation”, UMR_S 1159, 75005 Paris, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>INSERM, “Minimally Invasive Robot-Based Hearing Rehabilitation”, UMR_S 1159, 75005 Paris</wicri:regionArea><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Paris</settlement></placeName></affiliation><affiliation wicri:level="3"><nlm:aff id="I2">Sorbonne University, UPMC Univ Paris 06, UMR_S 1159, 75005 Paris, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>Sorbonne University, UPMC Univ Paris 06, UMR_S 1159, 75005 Paris</wicri:regionArea><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Paris</settlement></placeName></affiliation><affiliation wicri:level="3"><nlm:aff id="I4">AP-HP, Otolaryngology Department, Unit of Otology, Auditory Implants and Skull Base Surgery, Hospital Pitié Salpêtrière, 75013 Paris, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>AP-HP, Otolaryngology Department, Unit of Otology, Auditory Implants and Skull Base Surgery, Hospital Pitié Salpêtrière, 75013 Paris</wicri:regionArea><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Paris</settlement></placeName></affiliation></author><author><name sortKey="Duriez, Christian" sort="Duriez, Christian" uniqKey="Duriez C" first="Christian" last="Duriez">Christian Duriez</name><affiliation wicri:level="3"><nlm:aff id="I3">Shacra, INRIA, University Lille 1, 59650 Villeneuve d'Ascq, France</nlm:aff><country xml:lang="fr">France</country><wicri:regionArea>Shacra, INRIA, University Lille 1, 59650 Villeneuve d'Ascq</wicri:regionArea><placeName><region type="region" nuts="2">Nord-Pas-de-Calais-Picardie</region><region type="old region" nuts="2">Nord-Pas-de-Calais</region><settlement type="city">Villeneuve d'Ascq</settlement></placeName></affiliation></author></analytic><series><title level="j">BioMed Research International</title><idno type="ISSN">2314-6133</idno><idno type="eISSN">2314-6141</idno><imprint><date when="2014">2014</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>Otological microsurgery is delicate and requires high dexterity in bad ergonomic conditions. To assist surgeons in these indications, a teleoperated system, called RobOtol, is developed. This robot enhances gesture accuracy and handiness and allows exploration of new procedures for middle ear surgery. To plan new procedures that exploit the capacities given by the robot, a surgical simulator is developed. The simulation reproduces with high fidelity the behavior of the anatomical structures and can also be used as a training tool for an easier control of the robot for surgeons. In the paper, we introduce the middle ear surgical simulation and then we perform virtually two challenging procedures with the robot. We show how interactive simulation can assist in analyzing the benefits of robotics in the case of complex manipulations or ergonomics studies and allow the development of innovative surgical procedures. New robot-based microsurgical procedures are investigated. The improvement offered by RobOtol is also evaluated and discussed.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Finkelstein, J" uniqKey="Finkelstein J">J Finkelstein</name></author><author><name sortKey="Eckersberger, E" uniqKey="Eckersberger E">E Eckersberger</name></author><author><name sortKey="Sadri, H" uniqKey="Sadri H">H Sadri</name></author><author><name sortKey="Taneja, Ss" uniqKey="Taneja S">SS Taneja</name></author><author><name sortKey="Lepor, H" uniqKey="Lepor H">H Lepor</name></author><author><name sortKey="Djavan, B" uniqKey="Djavan B">B Djavan</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Jianxun, Z" uniqKey="Jianxun Z">Z Jianxun</name></author><author><name sortKey="Huan, T" uniqKey="Huan T">T Huan</name></author><author><name sortKey="Wenqin, L" uniqKey="Wenqin L">L Wenqin</name></author><author><name sortKey="Tian, Y" uniqKey="Tian Y">Y Tian</name></author><author><name sortKey="Shumei, W" uniqKey="Shumei W">W Shumei</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Mitchell, B" uniqKey="Mitchell B">B Mitchell</name></author><author><name sortKey="Koo, J" uniqKey="Koo J">J Koo</name></author><author><name sortKey="Iordachita, M" uniqKey="Iordachita M">M Iordachita</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Dubach, P" uniqKey="Dubach P">P Dubach</name></author><author><name sortKey="Bell, B" uniqKey="Bell B">B Bell</name></author><author><name sortKey="Weber, S" uniqKey="Weber S">S Weber</name></author><author><name sortKey="Caversaccio, M" uniqKey="Caversaccio M">M Caversaccio</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Grande, Gm" uniqKey="Grande G">GM Grande</name></author><author><name sortKey="Knisely, Aj" uniqKey="Knisely A">AJ Knisely</name></author><author><name sortKey="Becker, Bc" uniqKey="Becker B">BC Becker</name></author><author><name sortKey="Yang, S" uniqKey="Yang S">S Yang</name></author><author><name sortKey="Hirsch, Be" uniqKey="Hirsch B">BE Hirsch</name></author><author><name sortKey="Riviere, Cn" uniqKey="Riviere C">CN Riviere</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Entsfellner, K" uniqKey="Entsfellner K">K Entsfellner</name></author><author><name sortKey="Strauss, G" uniqKey="Strauss G">G Strauss</name></author><author><name sortKey="Berger, T" uniqKey="Berger T">T Berger</name></author><author><name sortKey="Dietz, A" uniqKey="Dietz A">A Dietz</name></author><author><name sortKey="Lueth, Tc" uniqKey="Lueth T">TC Lueth</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Miroir, M" uniqKey="Miroir M">M Miroir</name></author><author><name sortKey="Nguyen, Y" uniqKey="Nguyen Y">Y Nguyen</name></author><author><name sortKey="Szewczyk, J" uniqKey="Szewczyk J">J Szewczyk</name></author><author><name sortKey="Sterkers, O" uniqKey="Sterkers O">O Sterkers</name></author><author><name sortKey="Bozorg Grayeli, A" uniqKey="Bozorg Grayeli A">A Bozorg Grayeli</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Duval, C" uniqKey="Duval C">C Duval</name></author><author><name sortKey="Jones, J" uniqKey="Jones J">J Jones</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Miroir, M" uniqKey="Miroir M">M Miroir</name></author><author><name sortKey="Nguyen, Y" uniqKey="Nguyen Y">Y Nguyen</name></author><author><name sortKey="Szewczyk, J" uniqKey="Szewczyk J">J Szewczyk</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Kazmitcheff, G" uniqKey="Kazmitcheff G">G Kazmitcheff</name></author><author><name sortKey="Miroir, M" uniqKey="Miroir M">M Miroir</name></author><author><name sortKey="Nguyen, Y" uniqKey="Nguyen Y">Y Nguyen</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Trier, P" uniqKey="Trier P">P Trier</name></author><author><name sortKey="Noe, K" uniqKey="Noe K">KØ Noe</name></author><author><name sortKey="S Rensen, Ms" uniqKey="S Rensen M">MS Sørensen</name></author><author><name sortKey="Mosegaard, J" uniqKey="Mosegaard J">J Mosegaard</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Gan, Rz" uniqKey="Gan R">RZ Gan</name></author><author><name sortKey="Feng, B" uniqKey="Feng B">B Feng</name></author><author><name sortKey="Sun, Q" uniqKey="Sun Q">Q Sun</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Kelly, Dj" uniqKey="Kelly D">DJ Kelly</name></author><author><name sortKey="Prendergast, Pj" uniqKey="Prendergast P">PJ Prendergast</name></author><author><name sortKey="Blayney, Aw" uniqKey="Blayney A">AW Blayney</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Kazmitcheff, G" uniqKey="Kazmitcheff G">G Kazmitcheff</name></author><author><name sortKey="Miroir, M" uniqKey="Miroir M">M Miroir</name></author><author><name sortKey="Nguyen, Y" uniqKey="Nguyen Y">Y Nguyen</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Rosowski, Jj" uniqKey="Rosowski J">JJ Rosowski</name></author><author><name sortKey="Chien, W" uniqKey="Chien W">W Chien</name></author><author><name sortKey="Ravicz, Me" uniqKey="Ravicz M">ME Ravicz</name></author><author><name sortKey="Merchant, Sn" uniqKey="Merchant S">SN Merchant</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Huttenbrink, Kb" uniqKey="Huttenbrink K">KB Huttenbrink</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Wang, X" uniqKey="Wang X">X Wang</name></author><author><name sortKey="Cheng, T" uniqKey="Cheng T">T Cheng</name></author><author><name sortKey="Gan, Rz" uniqKey="Gan R">RZ Gan</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Kazmitcheff, G" uniqKey="Kazmitcheff G">G Kazmitcheff</name></author><author><name sortKey="Duriez, C" uniqKey="Duriez C">C Duriez</name></author><author><name sortKey="Miroir, M" uniqKey="Miroir M">M Miroir</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Nicholson, Dt" uniqKey="Nicholson D">DT Nicholson</name></author><author><name sortKey="Chalk, C" uniqKey="Chalk C">C Chalk</name></author><author><name sortKey="Funnell, Wrj" uniqKey="Funnell W">WRJ Funnell</name></author><author><name sortKey="Daniel, Sj" uniqKey="Daniel S">SJ Daniel</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Faure, F" uniqKey="Faure F">F Faure</name></author><author><name sortKey="Duriez, C" uniqKey="Duriez C">C Duriez</name></author><author><name sortKey="Delingette, H" uniqKey="Delingette H">H Delingette</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Duriez, C" uniqKey="Duriez C">C Duriez</name></author><author><name sortKey="Andriot, C" uniqKey="Andriot C">C Andriot</name></author><author><name sortKey="Kheddar, A" uniqKey="Kheddar A">A Kheddar</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Courtecuisse, H" uniqKey="Courtecuisse H">H Courtecuisse</name></author><author><name sortKey="Allard, J" uniqKey="Allard J">J Allard</name></author><author><name sortKey="Duriez, C" uniqKey="Duriez C">C Duriez</name></author><author><name sortKey="Cotin, S" uniqKey="Cotin S">S Cotin</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Syllebranque, C" uniqKey="Syllebranque C">C Syllebranque</name></author><author><name sortKey="Duriez, C" uniqKey="Duriez C">C Duriez</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Lauxmann, M" uniqKey="Lauxmann M">M Lauxmann</name></author><author><name sortKey="Heckeler, C" uniqKey="Heckeler C">C Heckeler</name></author><author><name sortKey="Beutner, D" uniqKey="Beutner D">D Beutner</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Mathews, Sb" uniqKey="Mathews S">SB Mathews</name></author><author><name sortKey="Rasgon, Bm" uniqKey="Rasgon B">BM Rasgon</name></author><author><name sortKey="Byl, Fm" uniqKey="Byl F">FM Byl</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Farrior, Jb" uniqKey="Farrior J">JB Farrior</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hornung, Ja" uniqKey="Hornung J">JA Hornung</name></author><author><name sortKey="Brase, C" uniqKey="Brase C">C Brase</name></author><author><name sortKey="Bozzato, A" uniqKey="Bozzato A">A Bozzato</name></author><author><name sortKey="Zenk, J" uniqKey="Zenk J">J Zenk</name></author><author><name sortKey="Iro, H" uniqKey="Iro H">H Iro</name></author></analytic></biblStruct></listBibl></div1></back></TEI><affiliations><list><country><li>France</li></country><region><li>Nord-Pas-de-Calais</li><li>Nord-Pas-de-Calais-Picardie</li><li>Île-de-France</li></region><settlement><li>Paris</li><li>Villeneuve d'Ascq</li></settlement></list><tree><country name="France"><region name="Île-de-France"><name sortKey="Kazmitcheff, Guillaume" sort="Kazmitcheff, Guillaume" uniqKey="Kazmitcheff G" first="Guillaume" last="Kazmitcheff">Guillaume Kazmitcheff</name></region><name sortKey="Cotin, Stephane" sort="Cotin, Stephane" uniqKey="Cotin S" first="Stéphane" last="Cotin">Stéphane Cotin</name><name sortKey="Duriez, Christian" sort="Duriez, Christian" uniqKey="Duriez C" first="Christian" last="Duriez">Christian Duriez</name><name sortKey="Ferrary, Evelyne" sort="Ferrary, Evelyne" uniqKey="Ferrary E" first="Evelyne" last="Ferrary">Evelyne Ferrary</name><name sortKey="Ferrary, Evelyne" sort="Ferrary, Evelyne" uniqKey="Ferrary E" first="Evelyne" last="Ferrary">Evelyne Ferrary</name><name sortKey="Ferrary, Evelyne" sort="Ferrary, Evelyne" uniqKey="Ferrary E" first="Evelyne" last="Ferrary">Evelyne Ferrary</name><name sortKey="Kazmitcheff, Guillaume" sort="Kazmitcheff, Guillaume" uniqKey="Kazmitcheff G" first="Guillaume" last="Kazmitcheff">Guillaume Kazmitcheff</name><name sortKey="Kazmitcheff, Guillaume" sort="Kazmitcheff, Guillaume" uniqKey="Kazmitcheff G" first="Guillaume" last="Kazmitcheff">Guillaume Kazmitcheff</name><name sortKey="Miroir, Mathieu" sort="Miroir, Mathieu" uniqKey="Miroir M" first="Mathieu" last="Miroir">Mathieu Miroir</name><name sortKey="Miroir, Mathieu" sort="Miroir, Mathieu" uniqKey="Miroir M" first="Mathieu" last="Miroir">Mathieu Miroir</name><name sortKey="Nguyen, Yann" sort="Nguyen, Yann" uniqKey="Nguyen Y" first="Yann" last="Nguyen">Yann Nguyen</name><name sortKey="Nguyen, Yann" sort="Nguyen, Yann" uniqKey="Nguyen Y" first="Yann" last="Nguyen">Yann Nguyen</name><name sortKey="Nguyen, Yann" sort="Nguyen, Yann" uniqKey="Nguyen Y" first="Yann" last="Nguyen">Yann Nguyen</name><name sortKey="Pean, Fabien" sort="Pean, Fabien" uniqKey="Pean F" first="Fabien" last="Péan">Fabien Péan</name><name sortKey="Sterkers, Olivier" sort="Sterkers, Olivier" uniqKey="Sterkers O" first="Olivier" last="Sterkers">Olivier Sterkers</name><name sortKey="Sterkers, Olivier" sort="Sterkers, Olivier" uniqKey="Sterkers O" first="Olivier" last="Sterkers">Olivier Sterkers</name><name sortKey="Sterkers, Olivier" sort="Sterkers, Olivier" uniqKey="Sterkers O" first="Olivier" last="Sterkers">Olivier Sterkers</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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