A developer storage device includes a storage container which supplies developer to a developing unit when rotated, and a collecting container for storing developer collected from an image forming section. The developer storage device further includes a first attaching and detaching portion allowing the storage container to be attached to and detached from a developer storage device body, and a second attaching and detaching portion allowing the collecting container to be attached to and detached from the developer storage device body.

 
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> System for determining the position and orientation of a catheter

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