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The term "pseudocoelom" refers to how the body cavity appears in the embryo of an organism. As you probably know, the bilaterians (all organisms with left-right symmetry, and the echinoderms for phylogenetic reasons) have three layers of tissue in the embryo: the ectoderm, endoderm, and mesoderm. In the "true" coelomates, the body cavity ("coelom") is completely surrounded by mesodermal tissue. In the pseudocoelomates, though, the body cavity is partly surrounded by mesoderm but partly surrounded by endoderm.

It should be noted that, given our current understanding, the pseudocoelomates do not form a valid taxonomic group. In previous years, the various groups of pseudocoelomates, including the roundworms (Phylum Nematoda), wheel animals (Phylum Rotifera), and others were lumped into one group called the "ascelminthes". Modern fossil and genetic evidence, however, shows that the pseudocoelom has appeared multiple times independently in the animal kingdom.

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