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In page Doctor Who:

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Producers introduced the concept of regeneration to permit the recasting of the main character. This was prompted by the poor health of the original star, William Hartnell.[1][2] The term "regeneration" was not conceived until the Doctor's third on-screen regeneration; Hartnell's Doctor merely described undergoing a "renewal", and the Second Doctor underwent a "change of appearance".[citation needed] The device has allowed for the recasting of the actor various times in the show's history, as well as the depiction of alternative Doctors either from the Doctor's relative past or future.[3]