JP6120908B2 - Apparatus, control method therefor, and object information acquisition apparatus - Google Patents

Description

  The present invention relates to a light irradiation apparatus, a control method thereof, and a subject information acquisition apparatus.

  Photoacoustic tomography (hereinafter referred to as PAT: Photoacoustic tomography) has attracted attention as a method for specifically imaging angiogenesis that occurs due to cancer. PAT is a method of illuminating a subject with illumination light (near infrared rays) and receiving a photoacoustic wave emitted from the inside of the subject with an ultrasonic probe for imaging.

  Non-Patent Document 1 describes a handheld photoacoustic apparatus. In this apparatus, a bundle fiber for irradiating light from a light source is fixed to a handheld probe. However, Non-Patent Document 1 does not describe the contact between the illumination light emission surface and the subject. Therefore, the illumination light is irradiated not only on the subject but also in the space, and there is room for improvement in safety against the illumination light.

  This problem can be dealt with by applying the technique of Patent Document 1. FIG. 7A and FIG. 7B show the configuration of the apparatus of Patent Document 1. In FIG. 7, an energy release surface 101 is a surface that comes into contact with the skin and is irradiated with energy such as light. The support structure 102 fixes the energy release surface 101 and is enclosed in the housing 104 via the contact sensor 103. The contact sensor 103 detects contact between the energy discharge surface 101 and a skin (not shown), and is disposed so as to surround the energy discharge surface 101. Then, unless the contact sensor 103 detects contact with the skin, the energy emission is stopped. By doing so, energy is irradiated only in a state where the energy release surface 101 is completely in close contact with the skin, and safety against energy irradiation is improved.

JP-T-2006-525036

S.A.Ermilov et al., Development of laser optoacoustic and ultrasonic imaging system for breast cancer utilizing handheld array probes, Photons Plus Ultrasound: Imaging and Sensing 2009, Proc. Of SPIE vol. 7177, 2009.

However, the conventional techniques have the following problems.
Since Non-Patent Document 1 does not describe the contact between the illumination light emission surface and the subject, the illumination light is irradiated in a space other than the subject. Even if the surgeon pays close attention to the skin, the energy release surface and the skin do not completely adhere to each other, and if only a part of the energy release surface comes into contact with the skin, the contact may occur and a gap may occur. There is sex. Therefore, there is room for improvement in safety against illumination light.

This problem is improved by applying Patent Document 1. That is, a contact sensor with the skin is provided around the illumination light emission surface, and control to stop emission of illumination light may be performed unless the contact sensor detects contact. However, in order to prevent the energy emission surface from being biased against the skin, a multistage emission prevention mechanism such as arranging a large number of contact sensors around the illumination light emission surface is necessary, and the device configuration is limited. It was complicated.

  The present invention has been made in view of the above problems, and an object of the present invention is to simplify the apparatus configuration while ensuring the safety of illumination light in an apparatus having a mechanism for irradiating a subject with light.

In view of the above object, the present invention adopts the following configuration. That is, a probe configured to include an emission unit for irradiating a subject with light, a housing including the emission unit, and a sensor that acquires a contact state quantity between the subject and the housing;
A control unit that controls irradiation of light from the emitting unit based on a change in the contact state amount,
When the contact state amount acquired by the sensor is equal to or greater than a first reference value and the amount of change of the contact state amount with respect to time is equal to or greater than a second reference value, the control unit Control to allow light irradiation from
It is the apparatus characterized by this.

The present invention also employs the following configuration. That is, a probe configured to include an emission unit for irradiating a subject with light, a housing including the emission unit, and a sensor that acquires a contact state amount between the subject and the housing, and the contact state amount A control unit for controlling the irradiation of light from the emitting unit based on the change of
When the control unit determines that the contact state amount acquired by the sensor is greater than or equal to a first reference value and the amount of change of the contact state amount with respect to time is greater than or equal to a second reference value, Perform control to allow light irradiation from the emission part,
When the control unit determines that the amount of change is less than the second reference value, the control unit performs control to stop irradiation of light from the emitting unit.
This is a method for controlling an apparatus .

  ADVANTAGE OF THE INVENTION According to this invention, in the apparatus which has a mechanism which irradiates light to a subject, an apparatus structure can be simplified, ensuring the safety | security of illumination light.

It is a figure explaining the apparatus structure in embodiment of this invention. It is a figure explaining the control apparatus in embodiment of this invention. It is a figure explaining mounting of the touch sensor in an embodiment of the invention. It is a figure explaining the light illumination control method in Example 1 of this invention. It is a figure explaining the light illumination control method in Example 2 of this invention. It is a figure explaining the light illumination control method in Example 3 of this invention. It is a figure explaining background art.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. The present invention receives acoustic waves (also called photoacoustic waves, typically ultrasonic waves) generated in a subject by irradiating the subject with light (electromagnetic waves), and uses the subject information as image information. The present invention can be applied to an apparatus using the photoacoustic effect to be acquired. Such an object information acquiring apparatus is called a photoacoustic apparatus.

  The acquired object information includes the source distribution of acoustic waves generated by light irradiation, the initial sound pressure distribution in the object, or the optical energy absorption density distribution derived from the initial sound pressure distribution, the absorption coefficient distribution, It shows the concentration distribution of the substances that make up the tissue. The concentration distribution of the substance is, for example, an oxygen saturation distribution or an oxidized / reduced hemoglobin concentration distribution.

  Note that the acoustic wave is typically an ultrasonic wave, and includes an elastic wave called a sound wave, an ultrasonic wave, an acoustic wave, a photoacoustic wave, and an optical ultrasonic wave. In the present invention, light refers to electromagnetic waves including visible light and infrared light. It is preferable to select light of a specific wavelength according to the component to be measured by the object information acquisition apparatus.

  The subject does not constitute a part of the subject information acquisition apparatus of the present invention, but will be described below. The subject information acquisition apparatus of the present invention is capable of diagnosing malignant tumors, vascular diseases, blood glucose levels, and the like of humans and animals and observing the progress of chemical treatment. Therefore, a living body, specifically, a human body or an animal's breast, fingers, limbs, or the like can be assumed as the subject. As the light absorber inside the subject, one having a relatively high absorption coefficient in the subject is shown. For example, if the human body is a measurement target, it corresponds to malignant tumors that contain a large amount of oxidized or reduced hemoglobin, blood vessels containing them, or new blood vessels. When the subject is a living body, the apparatus of the present invention can be called a biological information processing apparatus.

  An embodiment will be described with reference to FIG. FIG. 1 schematically shows a handheld photoacoustic apparatus.

  The light source 1, the illumination optical system 2, and the bundle fiber 3 are components for illuminating near-infrared rays on a subject (not shown). As the light source 1, a pulse laser such as an Nd: YAG laser or an Alexandrite laser is used. In addition, a Ti: sa laser or an OPO laser using Nd: YAG laser light as excitation light may be used. Furthermore, a light source other than a laser such as a xenon lamp may be used. The illumination optical system 2 expands the illumination light from the light source 1 and enters the bundle fiber 3. The illumination light illuminates the subject via the bundle fiber 3. In FIG. 1, the bundle fiber is shown to be branched into two, but the number of branches is arbitrary. Although the illumination optical system from the bundle fiber 3 to the subject is not shown, the subject may be directly illuminated from the emission end 3a of the bundle fiber 3, or an arbitrary optical system such as a diffusion plate may be provided. good. Here, the exit end 3a corresponds to the exit portion of the present invention.

  The ultrasonic probe 4 receives photoacoustic waves emitted from the subject. As the ultrasonic probe, for example, one in which detection elements such as PZT and CMUT are arranged in a one-dimensional or two-dimensional array can be used. Alternatively, a single element may be used. The processing device 5 acquires a photoacoustic signal received by the ultrasonic probe 4 at a timing when a trigger signal for emitting illumination light is input. Then, the photoacoustic signal is amplified, digitally converted, detected, etc., and image information is generated and displayed on the monitor 6.

  The housing 7 is for mounting the ultrasonic probe 4 and the bundle fiber emitting end 3a. The housing 7 is provided with a touch sensor 8. The touch sensor 8 is a sensor that measures the amount of contact between the subject and the housing 7. The output of the touch sensor 8 is input to the control device 9. The control device 9 generates a light emission control signal from the output of the touch sensor and transmits it to the light source 1. The handheld probe 10 includes a bundle fiber emitting end 3 a, an ultrasonic probe 4, a housing 7, and a touch sensor 8. Depending on the signal from the control device, it is determined whether the subject can be irradiated with light or whether the irradiation is stopped.

  The processing device 5 and the control device 9 can be realized using, for example, an information processing device. The information processing apparatus may perform each process by a dedicated circuit, or may be realized as a program for operating a computer or the like having a CPU.

Next, a control method in the control device 9 will be described with reference to FIG.
As shown in FIG. 2, the amount of contact state with the subject output from the touch sensor 8 is input to the control device 9. The control device 9 determines the contact state from the amount of contact state, and if it is in sufficient contact,
Allow lighting. If the contact is not sufficient, the lighting is stopped. This control signal is transmitted to the light source 1 and used for light emission control.

  The contact state determination method is performed by comparing the contact state amount representing the degree of contact with the first reference value and comparing the degree of change of the contact state amount (eg, time differentiation) with the second reference value. Is called. The conditions under which illumination is permitted are that the amount of contact state is greater than or equal to the first reference value and the change in contact is greater than or equal to the second reference value. Regarding the change in contact, a positive value is set when pressing and a negative value is set when releasing, and a certain negative value becomes the second reference value. For example, illumination is permitted on condition that the time derivative of the state quantity measured by the touch sensor 8 is equal to or greater than the second reference value.

  If the contact state quantity representing the degree of contact is equal to or greater than the first reference value, it can be seen that the housing 7 does not strike the subject and is in sufficient contact. If the time derivative is equal to or smaller than the second reference value, it can be seen that the handheld probe 10 is likely to be separated from the subject. That is, it can be seen that the handheld probe 10 is not only in a state of being completely separated from the subject but also likely to be biased. Therefore, an illumination control signal can be promptly transmitted to the light source 1 before leaving without providing a sensor for detecting contact so as to surround the illumination area. Therefore, the safety of laser irradiation can be obtained without arranging a large number of contact sensors.

The present invention is characterized in that emission control of illumination light is performed based on the contact state with the subject. Therefore, the components arranged in the optical path are not limited to the illumination optical system 2 and the bundle fiber 3. For example, instead of using the bundle fiber 3, a mirror or prism and a light-shielding tube containing them may be provided to secure an optical path until the subject is illuminated.
Further, the light emission control of the light source 1 may be effective by a method of opening / closing the internal shutter of the light source 1 or a method of controlling an internal trigger signal. Furthermore, although the control signal from the control device 9 has been described as performing light emission control of the light source 1, it is not limited to this. For example, an external shutter may be provided between the light source 1 and the illumination optical system 2 to control opening / closing of the shutter.

  Next, the touch sensor 8 will be described. The touch sensor 8 used in the present invention may be of any type as long as it can measure the amount of contact state between the housing 7 and the subject. For example, it is only necessary to measure state quantities such as force, pressure, and distance, and the principle can be optical, resistance, or capacitance. Here, a configuration when the touch sensor 8 is a strain gauge will be described.

  3A is a side view of the housing 7, FIG. 3B is a bottom view, and FIG. 3C is a perspective view. As shown in the bottom view of FIG. 3B, the bottom surface of the housing 7 is divided into an illumination opening for the subject and a region for receiving photoacoustic waves. When the strain gauge 8a is provided in the housing 7, a part of the housing 7 is used as the leaf spring 7a, and the strain gauge 8a is bonded to the leaf spring 7a. By doing so, the sensitivity of the output of the strain gauge 8a increases with respect to the contact state with the subject. Therefore, the contact state amount (strain of the leaf spring 7a) can be measured with high accuracy. Therefore, since the stability of control in the control device 9 is improved, the safety of light irradiation can be obtained even if the touch sensor 8 is not disposed so as to surround the illumination opening and the number thereof is reduced. Furthermore, if the control stability of the control device 9 is improved, errors such as non-contact illumination or non-contact illumination can be reduced, and the photoacoustic apparatus can be used stably.

The position of the strain gauge 8a is not limited to adhesion to the leaf spring 7a. As shown in another side view shown in FIG. 3D, the housing 7 may be made of a material that is easily distorted, and the strain gauge 8 a may be bonded to the side surface of the housing 7.
Further, as shown in FIG. 3C, if about two touch sensors 8 (strain gauges 8a) are provided so as to sandwich the illumination opening (illumination optical path), and the light emission is controlled from the amount of adhesion state and its change, it is safe. Thus, the device configuration can be simplified.

  In the first embodiment, the control method of the control device 9 will be described in more detail with reference to FIG. The control device 9 performs the following steps from the amount of contact state with the subject from the touch sensor 8 to control the emission of illumination light.

  (S11) It is determined whether the contact state is greater than or equal to a first reference value set in advance. When the strain gauge 8a is used for the touch sensor 8, if the strain amount εi ≧ a (first reference value), the process proceeds to the next step S12. If εi <a, step S14 is performed. Here, i means the channel number of the strain gauge 8a (touch sensor 8).

  (S12) It is determined whether the change in contact is greater than or equal to a preset second reference value. More specifically, it is determined whether the time derivative of the contact state is greater than or equal to the second reference value. When the strain gauge 8a is used for the touch sensor 8, if dεi / dt ≧ b, the next step S13 is performed. If dεi / dt <b, step S14 is performed. However, the contact change is positive when pressing and negative when releasing, and the second reference value b is a negative value.

(S13) The light source 1 is controlled to allow illumination. Alternatively, a shutter (not shown) may be controlled, or both the light source and the shutter may be controlled.
(S14) The light source 1 is controlled so as to stop the illumination. Alternatively, a shutter (not shown) may be controlled, or both the light source and the shutter may be controlled.
Note that step S11 and step S12 may be interchanged.

  According to the control method of the present embodiment, illumination is permitted when the contact state amount (horizontal axis: strain amount εi) and its change (vertical axis: dεi / dt) shown in FIG. Control is performed to stop illumination when illumination is not possible. As an example, when the strain gauge 8a is mounted on the leaf spring 7a described in the first embodiment, the first reference value a = 0.05 and the second reference value b = −0.1 were controlled. As a result, the handheld probe 10 and the subject could be brought into close contact with each other without being unevenly contacted. These numerical values are not limited to this, and need to be changed depending on conditions such as the material, shape and dimension of the leaf spring 7a, or the elastic modulus of the subject.

  Further, the amount of change in the contact state has been described as positive when pressed, negative when released, and the second reference value b as a negative value. Further, in S11 and S12, equal signs are put into εi ≧ a and dεi / dt ≧ b that satisfy the conditions, but these are also effective when εi> a and dεi / dt> b. Further, a moving average value may be obtained for the contact state amount (strain amount εi) with the subject, and S11 and S12 may be determined from the moving average value. The same applies to the following embodiments.

  Furthermore, although the change amount of the contact state has been described as the time derivative of the contact state amount, the time sampling Δt is arbitrary. For example, it is good also as a sampling frequency (about 1 kHz) at the time of inputting the output of the touch sensor 8 to the control part 9, and it is good also as the variation | change_quantity of a contact state by sampling for about several seconds.

  According to this embodiment, an illumination control signal can be promptly transmitted to the light source 1 before leaving without providing a sensor for detecting contact so as to surround the illumination area. Therefore, it is not necessary to arrange a large number of contact sensors, and the safety of laser irradiation can be obtained. Furthermore, the number of sensors for detecting contact can be reduced, and the housing 7 can be downsized. As a result, the entire handheld probe 10 can be reduced.

Up to this point, the photoacoustic apparatus has been described as an example, but the application target of the present invention is not limited to this. For example, the present invention can be applied to other object information acquisition apparatuses such as AOT (Acousto-Optical Tomography) and DOT (Diffuse Optical Tomography). Furthermore, the present invention is not limited to the subject information acquisition apparatus, and can also be applied to light irradiation control such as a laser treatment device. In other words, the present invention can be applied to a light irradiation apparatus including a handheld probe having a mechanism for irradiating light.

  In the control method described in the first embodiment, the first reference value a of the contact state amount (strain amount εi) and the second reference value b of the change (time derivative of the strain amount dεi / dt) are set in advance. However, these values may be changed according to the state of contact.

  In Example 2, the reference value (first reference value) of the contact state amount is changed according to the change. This is because the amount of contact state between the handheld probe 10 and the subject changes when the handheld probe 10 is pressed against the subject and when the handheld probe 10 is moved away from the subject as the contact state differs. is there. For example, when the handheld probe 10 is pressed against the subject, the handheld probe 10 and the subject are brought into close contact with each other with a force of 8N or more, whereas when the handheld probe 10 is separated from the subject, the handheld probe 10 and the subject are brought with a force of about 3N. The specimen comes into close contact. Therefore, the first reference value of the contact state amount (strain amount εi) is determined according to the time derivative (dεi / dt) of the contact state.

  The determination method gives the control device 9 a mathematical formula so as to be a function of time differentiation of the contact state. Or you may give the table | surface which determines the reference value of a contact state quantity according to the time differentiation of a contact state to the control apparatus 9. FIG. Further alternatively, the first reference value has two values, and it is determined whether the handheld probe 10 is pressed or released from the subject based on the time differentiation of the contact state, and the reference value of the contact state amount is selected based on the determination. good.

Then, as shown in FIG. 5A, the control device 9 performs the following steps based on the amount of contact state with the subject from the touch sensor 8 to control the emission of illumination light.
(S21) The change in the contact state is calculated. When the strain gauge 8a is used for the touch sensor 8, dεi / dt is calculated. Here, i means the channel number of the strain gauge 8a (touch sensor 8).

(S22) A first reference value of the contact state quantity is determined. When a strain gauge 8a is used for the touch sensor 8, a strain amount reference value a is determined.
(S23) It is determined whether the contact state is equal to or greater than the first reference value obtained in S22. When the strain gauge 8a is used for the touch sensor 8, if the strain amount εi ≧ a (reference value), the process proceeds to the next step S24. If εi <a, step S26 is performed.

  (S24) It is determined whether the change in contact is greater than or equal to a preset second reference value. More specifically, it is determined whether the time derivative of the contact state is greater than or equal to the second reference value b. When the strain gauge 8a is used for the touch sensor 8, if dεi / dt ≧ b, the next step S25 is performed. If dεi / dt <b, step S26 is performed. However, the contact change is positive when pressing and negative when releasing, and the second reference value b is a negative value.

(S25) The light source 1 is controlled to allow illumination. Alternatively, a shutter (not shown) may be controlled, or both the light source and the shutter may be controlled.
(S26) The light source 1 is controlled so as to stop the illumination. Alternatively, a shutter (not shown) may be controlled, or both the light source and the shutter may be controlled.
Note that step S23 and step S24 may be interchanged.

According to the control method of the present embodiment, as shown in FIG. 5B, when the handheld probe 10 is pressed against the subject, the first reference value a is set small. Conversely, when the handheld probe 10 is separated from the subject, the first reference value a is set large. In this way, when the handheld probe 10 is pressed against the subject, illumination is permitted even with weak contact, so that it is not necessary to press the handheld probe 10 against the subject more than necessary, and the operability of the apparatus is improved.

  In Example 3, the second reference value is determined from the contact state quantity. This is because, as described in the second embodiment, the close contact state between the handheld probe 10 and the subject differs depending on the pressed state. For example, after the handheld probe 10 is pressed against the subject with a relatively strong force, the close contact can be maintained even if the pressing force is relaxed while maintaining the close contact, and the change in the contact state amount is large. Therefore, the second reference value b of the change in contact state (dεi / dt) is determined according to the contact state amount (strain amount εi). The control method 9 is given a mathematical formula so that the determination method is a function of the contact state quantity. Alternatively, the control device 9 may have a table for determining a reference value for the change in the contact state according to the contact state amount.

Then, as shown in FIG. 6A, the control device 9 performs the following steps from the amount of contact state with the subject from the touch sensor 8 to control the emission of illumination light.
(S31) A second reference value is determined from the contact state quantity. When the strain gauge 8a is used for the touch sensor 8, the second reference value b for determining the change (time differentiation) of the strain amount is determined.
(S32) It is determined whether the contact state is greater than or equal to a preset first reference value. When the strain gauge 8a is used for the touch sensor 8, if the strain amount εi ≧ a (reference value), the process proceeds to the next step S33. If εi <a, step S35 is performed. Here, i means the channel number of the strain gauge 8a (touch sensor 8).

(S33) It is determined whether the contact change is greater than or equal to the second reference value obtained in S31. More specifically, it is determined whether the time derivative of the contact state is greater than or equal to a predetermined reference value b. When the strain gauge 8a is used for the touch sensor 8, if dεi / dt ≧ b, the next step S34 is performed. If dεi / dt <b, step S35 is performed. However, the contact change is positive when pressing and negative when releasing, and the reference value b is a negative value.
(S34) The light source 1 is controlled to permit illumination. Alternatively, a shutter (not shown) may be controlled, or both the light source and the shutter may be controlled.
(S35) The light source 1 is controlled so as to stop the illumination. Alternatively, a shutter (not shown) may be controlled, or both the light source and the shutter may be controlled.
Note that step S32 and step S33 may be interchanged.

  According to the control method of the present embodiment, as shown in FIG. 6B, when the handheld probe 10 is in close contact with the subject, the second reference value b is set lower, and the change is Illumination can be tolerated even if the distance increases in the direction of separation. On the other hand, when the handheld probe 10 is weakly in close contact with the subject, the second reference value b is set to a higher value to determine whether illumination is possible. In this way, when the handheld probe 10 is in close contact with the subject, illumination is permitted even if the contact is slightly relaxed, but when the handheld probe 10 is weakly in contact, the handheld probe 10 is in close contact with the subject. Lighting is not allowed unless By doing so, for example, after the handheld probe 10 is pressed against the subject with a relatively strong force, it is possible to suppress a problem that the laser emission stops even when the pressing force is relaxed while maintaining the close contact. Therefore, the operability of the apparatus is further improved.

  Further, the second embodiment and the third embodiment may be combined, and the reference value of the contact state amount and the reference value of the change in the direction in which the contact leaves may be determined according to the contact state amount measured by the touch sensor 8.

  1: Light source, 7: Housing, 8: Touch sensor, 9: Control device, 10: Handheld probe

Claims (13)

A probe configured to include an emitting unit for irradiating the subject with light , a housing including the emitting unit, and a sensor for obtaining a contact state quantity between the subject and the housing;
A control unit that controls irradiation of light from the emitting unit based on a change in the contact state amount ,
When the contact state amount acquired by the sensor is equal to or greater than a first reference value and the amount of change of the contact state amount with respect to time is equal to or greater than a second reference value, the control unit An apparatus characterized by performing control to allow irradiation of light from the device. The apparatus of claim 1, wherein the second reference value is a negative value . Wherein, in the case the amount contact acquired by the sensor is less than the first reference value, when the change amount of the contact state quantity is less than said second reference value, the emitting portion apparatus according to claim 1 or 2, characterized in that to perform a control of stopping the irradiation of the light from. 4. The apparatus according to claim 1, wherein the control unit performs light emission control of a light source or opening / closing control of a shutter provided in an optical path from the light source to the emission unit. 5. . The apparatus according to any one of claims 1 to 4 , wherein the control unit includes a mathematical expression or a table that determines the second reference value. Apparatus according to any one of claims 1 to 5, characterized in that a plurality chromatic said sensor capable of measuring a contact state quantity of the previous SL housing and the subject. The probe device according to any one of claims 1 to 6, characterized in that the ultrasonic probe unrealized constructed. The apparatus according to claim 7, wherein the ultrasonic probe is a detection element having a PZT or a CMUT.   The emission part is connected to a light source via a bundle fiber.
The device according to claim 1, wherein the device is a device.   The emission unit has first and second emission ends so that the subject is irradiated with light from both sides of a reception region constituted by the ultrasonic probe.
The apparatus according to claim 7. The device according to any one of claims 1 to 10 , wherein the device is a handheld device. The apparatus according to claim 7 or 10 , wherein the ultrasonic probe acquires an acoustic wave generated when light is irradiated on the subject from the emission unit;
A processing device for generating image information inside the subject from the acoustic wave;
A subject information acquisition apparatus characterized by comprising: Emitting portion for emitting light to the subject, a housing provided with the exit portion, and a sensor for acquiring a contact state quantity of the said analyte housing and unrealized configured probe, the contact state quantity A control unit that controls irradiation of light from the emitting unit based on a change,
When the control unit determines that the contact state amount acquired by the sensor is greater than or equal to a first reference value and the amount of change of the contact state amount with respect to time is greater than or equal to a second reference value , Perform control to allow light irradiation from the emission part,
Wherein the control unit is if the previous SL change amount is determined to be less than the second reference value, intends row control to stop the irradiation of the light from the emitting portion
Control method of the apparatus characterized by and this.

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