Write a program to solve a Sudoku puzzle by filling the empty cells. A sudoku solution must satisfy all of the following rules: 1. Each of the digits 1-9 must occur exactly once in each row. 2. Each of the digits 1-9 must occur exactly once in each column. 3. Each of the digits 1-9 must occur exactly once in each of the 9 3x3 sub-boxes of the grid.
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