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Leading 2-1 in the second set, the Serbian pulled up gingerly after appearing to strain his left hamstrin.
Serving for the set at 6-5, Ferrer broke back to force a tiebreaker and opened up a 3-1 lead only to see the defending champion take six of the next seven points.
Djokovic completes a clean sweep for the top four seeds in their respective quartefinals. He will meet fourth seed Andy Murray on Friday.
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