Surgical control systems, methods, and electronic devices

Abstract

The application discloses a surgical control system, method and electronic equipment, and belongs to the technical field of surgical equipment. The surgical control system comprises a control unit and a plurality of mechanical units, wherein the plurality of mechanical units comprise a first mechanical unit holding a speculum; and wherein, in the case that a first state in which the first mechanical unit is set to display a picture is acquired, the control unit sets at least one mechanical unit close to the first mechanical unit to a second state for being operated based on a preset relative position of the plurality of mechanical units.

Description

Technical Field

[0001] This invention relates to the technical field of surgical equipment, and more specifically, to a surgical control system, method, and electronic device. Background Technology

[0002] With the development of intelligent surgical equipment, surgical robots are becoming increasingly common. A surgical robot typically includes multiple mechanical units, a control unit, and a display unit. The active robotic arm associated with the control unit can be gripped by the operator. The control unit can display the images output by the mechanical units of the built-in endoscope through the display unit. Subsequently, the active robotic arm can output corresponding operation signals based on the operator's hand movements. These operation signals control other mechanical units to coordinate with the operator's hand movements. However, in different surgical scenarios, the deflection angle of the mechanical units of the built-in endoscope is limited, thus restricting the overall range of motion of the surgical robot. Summary of the Invention

[0003] One object of the present invention is to provide a new technical solution for surgical control system, method and electronic device.

[0004] According to a first aspect of the present invention, a surgical control system is provided, the system comprising: a control unit; a plurality of mechanical units, the plurality of mechanical units including a first mechanical unit holding a endoscopic endoscope; wherein, upon obtaining a first state in which the first mechanical unit is set to display an image, the control unit, based on preset relative positions of the plurality of mechanical units, sets at least one mechanical unit adjacent to the first mechanical unit to a second state for operation.

[0005] Optionally, the control unit sets a preset number of mechanical units that are far from the first mechanical unit into a third state for auxiliary operation.

[0006] Optionally, the plurality of mechanical units is four, the mechanical units in the second state are two, and the mechanical unit in the third state is one.

[0007] Optionally, the at least one mechanical unit includes a second mechanical unit and a third mechanical unit; the control unit generates a mapping relationship between a first control unit and a second control unit set for the control unit based on the relative positions of the second mechanical unit and the third mechanical unit, such that different mechanical units respond to control commands output by different control units; wherein, the mapping relationship is a one-to-one correspondence between different mechanical units and different control units.

[0008] Optionally, the first mechanical unit is operated by the left hand via the control unit; the second mechanical unit is operated by the right hand via the control unit.

[0009] Optionally, the control unit determines the relative positions of the plurality of mechanical units based on identifiers set by the plurality of mechanical units.

[0010] Optionally, the set identifier is a numerical identifier.

[0011] Optionally, all of the plurality of mechanical units are movable robotic arms.

[0012] According to a second aspect of the present invention, a control method is provided, the method comprising: upon receiving a trigger signal for holding a peep sight in a first mechanical unit among a plurality of mechanical units, updating the current state of the first mechanical unit to a first state; determining at least one mechanical unit close to the first mechanical unit based on preset relative positions of the plurality of mechanical units; and updating the current state of the at least one mechanical unit to a second state.

[0013] According to a third aspect of the present invention, an electronic device is provided, including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the control method of the second aspect.

[0014] According to one embodiment of this disclosure, when a first mechanical unit among multiple mechanical units holds a trocar, the control unit sets the first mechanical unit to a first state for displaying an image, and sets at least one mechanical unit located close to the first mechanical unit to a second state operable by the user. In this manner, based on the first mechanical unit set by the operator, the control unit configures different mechanical units to cooperate with the first mechanical unit, allowing for more flexible allocation of different mechanical units to accommodate the operator's control, thereby expanding the range of motion of the trocar. This effectively improves the overall range of motion of the surgical robot.

[0015] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0017] Figure 1 This is a schematic diagram of the composition of a surgical control system according to one embodiment;

[0018] Figure 2 This is a schematic diagram of the structure of multiple operating units according to another embodiment;

[0019] Figure 3 This is a structural block diagram of a control method according to another embodiment;

[0020] Figure 4 This is a flowchart of a control method according to another embodiment;

[0021] Figure 5 This is a block diagram of a control device according to one embodiment;

[0022] Figure 6 This is a schematic diagram of the hardware structure of an electronic device according to one embodiment. Detailed Implementation

[0023] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0024] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0025] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0026] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0028] Figure 1 This is a schematic diagram of the structural composition of a surgical control system applicable according to one embodiment. For example... Figures 1 to 2 As shown, the system includes multiple mechanical units 100, a control unit 200, an active robotic arm 300, and a display unit 400. The system can be applied to surgical equipment scenarios.

[0029] An active operating hand 300 is installed on the operating table of the control unit 200. The active operating hand 300 is electrically connected to the control unit 200 and is used for the operator to grasp and convert the operator's grasping action into an operating signal output.

[0030] The control unit 200 can process the operation signals input by the active operator 300 and generate corresponding operation commands. The control unit 200 outputs the operation commands to multiple mechanical units 100, causing the multiple mechanical units 100 to perform corresponding operations, such as suturing wounds or removing lumps. The control unit 200 can be directly electrically connected to the multiple mechanical units 100, or it can communicate with the multiple mechanical units 100 via wireless means such as Bluetooth.

[0031] The display unit 400 is also located on the control panel of the control unit 200. The display unit 400 can be a display screen that is communicatively connected to the endoscope. There can be one or more screens, which is not limited here. When the endoscope is working, the display unit 400 can display the image output by the endoscope. The content of the image can be the actions being performed by multiple mechanical units 100 on the operating table 10.

[0032] In the embodiments of this disclosure, the memory of the electronic device is used to store a computer program that controls the processor of the electronic device to operate in order to implement the processing of the electronic device according to any embodiment. Those skilled in the art can design computer programs based on the solutions of the embodiments of this disclosure. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.

[0033] In one embodiment, the surgical robot system includes: a control unit; a plurality of mechanical units, the plurality of mechanical units including a first mechanical unit holding a endoscopic endoscope; wherein, upon obtaining a first state in which the first mechanical unit is set to display an image, the control unit, based on the preset relative positions of the plurality of mechanical units, sets at least one mechanical unit adjacent to the first mechanical unit to a second state for operation.

[0034] The control unit can preset the relative positions of multiple mechanical units, such as... Figure 2 As shown, the control unit can pre-assign corresponding numbers to the four mechanical units in a left-to-right order. For example, the four mechanical units from left to right correspond to "No. 1", "No. 2", "No. 3", and "No. 4" respectively. The relative positions between multiple mechanical units can be reflected by these numbers. For example, when the difference between the numbers is 1, it means that the two mechanical units are adjacent; when the difference between the numbers exceeds 1, it means that the two mechanical units are separated by at least one mechanical unit.

[0035] Furthermore, the control unit sets corresponding first and second states for each mechanical unit. When a mechanical unit is in the first state, it is not connected to the active robotic arm associated with the control unit and can be controlled by an adjustment unit associated with the control unit and specifically for the endoscopic lens. This adjustment unit can be an adjustment handle, which is not specifically limited here. When a mechanical unit is in the second state, it is connected to the active robotic arm associated with the control unit, allowing the control unit to control the mechanical unit's actions based on operation signals generated during the operation of the active robotic arm by the operator.

[0036] Specifically, the operator can install the spy lens on a specific mechanical unit, designated as the first mechanical unit. Each mechanical unit is equipped with a corresponding sensor. When the spy lens is installed on the first mechanical unit, the sensor sends a trigger signal to the control unit. The control unit then determines that the mechanical unit is set to a first state, allowing the operator to view the image output by the spy lens on the aforementioned display screen. Based on the relative positions of the preset multiple mechanical units, the control unit identifies at least one mechanical unit adjacent to the first mechanical unit. This at least one mechanical unit is then set to a second state, allowing the operator to control the operation of this at least one mechanical unit using an active manipulator.

[0037] In one embodiment, the control unit sets a preset number of mechanical units that are far from the first mechanical unit into a third state for auxiliary operation.

[0038] The control unit can also set a corresponding third state for each mechanical unit. When a mechanical unit is in the third state, the mechanical unit is used to cooperate with at least one mechanical unit operated by the above-mentioned active robotic arm. For example, the mechanical unit can grasp or clamp the sewing thread transmitted by the above-mentioned at least one mechanical unit.

[0039] Specifically, the control unit sets a preset number of mechanical units, distant from the first mechanical unit, to a third state for auxiliary operation. The preset number can be one. Continuing... Figure 2 Taking the case where the first mechanical unit corresponds to mechanical unit number "3", the difference between the first mechanical unit and mechanical unit number "1" is 2, and this difference is the largest. This means the two mechanical units are relatively far apart, and the control unit sets mechanical unit number "1" to the third state for auxiliary operation. In other words, using mechanical units farther from the endoscope as auxiliary operation units can effectively improve the flexibility of the surgical robot, further facilitating the operator to complete different surgical tasks.

[0040] In one embodiment, there are four mechanical units, two mechanical units in the second state, and one mechanical unit in the third state.

[0041] Specifically, continue with Figure 2 Taking the following scenario as an example, the control unit obtains that the mechanical unit with serial number "3" is set to the first state, meaning the first mechanical unit's serial number is "3" and it acts as the lens-holding arm. Then, the serial number difference between the mechanical units with serial numbers "2" and "4" and the first mechanical unit is 1, while the serial number difference between the mechanical unit with serial number "1" and the first mechanical unit is 2. Therefore, the mechanical units with serial numbers "2" and "4" can be set as active robotic arms, respectively. Following a preset order, the mechanical unit with serial number "2" is set as the left arm and corresponds to the active robotic left hand, while the mechanical unit with serial number "4" is set as the right arm and corresponds to the active robotic left hand. This allows the operator to operate the mechanical unit with serial number "2" using the active robotic left hand and the mechanical unit with serial number "4" using the active robotic right hand. The mechanical unit with serial number "1" acts as an auxiliary arm and cooperates with the active robotic hand. In other words, by setting up two mechanical units for operation, one mechanical unit for auxiliary operation, and a mechanical unit to display the actions of each mechanical unit, it is more in line with ergonomic design and improves the convenience of operation for operators.

[0042] In one embodiment, at least one mechanical unit includes a second mechanical unit and a third mechanical unit; the control unit generates a mapping relationship between a first control unit and a second control unit set for the control unit based on the relative positions of the second mechanical unit and the third mechanical unit, such that different mechanical units respond to control commands output by different control units; wherein, the mapping relationship is a one-to-one correspondence between different mechanical units and different control units.

[0043] The first control unit can be the aforementioned active mechanical left hand, and the second control unit can be the aforementioned active mechanical right hand.

[0044] Specifically, at least one mechanical unit includes a second mechanical unit and a third mechanical unit. The control unit generates a mapping relationship between a first control unit and a second control unit based on the relative positions of the second and third mechanical units. That is, the second mechanical unit corresponds to the first control unit, and the third mechanical unit corresponds to the second control unit, so that when the operator operates the first and / or second control units, the second and / or third mechanical units operate synchronously; that is, different mechanical units respond to control commands output by different control units. In other words, by using two control units in conjunction with two of the multiple mechanical units, the operation is less difficult compared to the method of the operator operating more than two mechanical units simultaneously.

[0045] In one embodiment, the first mechanical unit is operated by the left hand via a control unit; the second mechanical unit is operated by the right hand via a control unit.

[0046] Specifically, the operator's left hand can operate the first control unit, and the operator's right hand can operate the second control unit. Correspondingly, operations on the first control unit can be simultaneously transmitted to the second mechanical unit, and operations on the second control unit can be simultaneously transmitted to the third mechanical unit. In other words, the first mechanical unit can be operated with the left hand, and the second mechanical unit can be operated with the right hand. This is effectively applicable to the operator's subtle hand movements during surgery, thereby improving the accuracy of the surgical robot's operation.

[0047] In one embodiment, the control unit determines the relative positions of the multiple mechanical units based on identifiers set by the multiple mechanical units.

[0048] Specifically, the control unit can set different identifiers for the relative positions of multiple mechanical units. These identifiers can be text, patterns, numbers, or a combination of two or three of these; no specific limitation is made here. In other words, the control unit uses different identifiers to represent the corresponding mechanical units, effectively distinguishing the relative positions of each mechanical unit to determine the relative positions of mechanical units in the first, second, and third states.

[0049] In one embodiment, the identifier is a digital identifier.

[0050] Specifically, continue with Figure 2 For example, different mechanical units can be represented by digital identifiers. The relative positions of each mechanical unit can be measured using numbers, reducing the amount of data processing required for the control unit to determine the status of each mechanical unit.

[0051] In one embodiment, the multiple mechanical units are all movable robotic arms.

[0052] Specifically, each of the multiple mechanical units can be a movable robotic arm, and each mechanical unit can have multiple movable joints, allowing each mechanical unit to synchronize with the operator's movements. Specific actions could include grasping objects, rotating the arm, etc., without specific limitations. In other words, by operating multiple robotic arms, the accuracy of the surgical robot can be further improved.

[0053] Figure 3 This is a flowchart illustrating a control method according to one embodiment.

[0054] like Figure 3As shown, the control method of this embodiment may include the following steps S210 and S230:

[0055] Step S210: Upon receiving a trigger signal indicating that the first mechanical unit among multiple mechanical units holds a viewing mirror, the current state of the first mechanical unit is updated to the first state.

[0056] Specifically, when the control unit receives a trigger signal for the first mechanical unit among multiple mechanical units to hold a viewing mirror, the current state of the first mechanical unit is updated to a first state for displaying the screen.

[0057] Step S220: Based on the relative positions of the preset multiple mechanical units, determine at least one mechanical unit that is close to the first mechanical unit.

[0058] Specifically, based on the relative positions of multiple mechanical units according to the aforementioned threshold, the control unit can determine at least one mechanical unit that is close to the first mechanical unit.

[0059] Step S230: Update the current state of at least one mechanical unit to the second state.

[0060] Specifically, the control unit updates the current state of at least one mechanical unit to a second state that can assist in operation.

[0061] In general, such as Figure 4 As shown, the control unit can control four mechanical units. The control unit can identify the mechanical unit holding the endoscope using the aforementioned sensors and determine its serial number, i.e., the arm number C of the endoscope-holding arm. The control unit determines whether the arm number C of the endoscope-holding arm is equal to 1. If the arm number C of the endoscope-holding arm is equal to 1, the arm number L of the left arm is 2, the arm number R of the right arm is 3, and the auxiliary arm is 4. If the arm number of the endoscope-holding arm is not equal to 1 but is equal to 4, the arm number L of the left arm is 2, the arm number R of the right arm is 3, and the auxiliary arm is 1. If the arm number of the endoscope-holding arm is neither 1 nor equal to 4, the arm number of the endoscope-holding arm can be 2, the arm number L of the left arm is 1, the arm number R of the right arm is 3, and the auxiliary arm is 4; or, the arm number of the endoscope-holding arm can be 3, the arm number L of the left arm is 2, the arm number R of the right arm is 4, and the auxiliary arm is 1. In other words, by setting the endoscope in different mechanical units, different mechanical units can be flexibly allocated to adapt to the operator's control, thereby expanding the range of motion of the endoscope and effectively improving the overall range of motion of the surgical robot.

[0062] Figure 5 This is a schematic block diagram of a control device according to one embodiment. Figure 5As shown, the control device 500 may include a first update module 510, used to update the current state of the first mechanical unit to a first state when a trigger signal is received for the first mechanical unit among the plurality of mechanical units to hold a peep sight; a mechanical unit determination module 520, used to determine at least one mechanical unit close to the first mechanical unit according to the preset relative positions of the plurality of mechanical units; and a second update module 510, used to update the current state of at least one mechanical unit to a second state.

[0063] The control device 500 can be as described above. Figure 1 Control unit 200.

[0064] Figure 6 This is a schematic diagram of the hardware structure of an electronic device according to another embodiment.

[0065] like Figure 6 As shown, the electronic device 600 includes a processor 610 and a memory 620, the memory 620 for storing an executable computer program, and the processor 610 for executing methods as described in any of the above method embodiments under the control of the computer program.

[0066] The electronic device 600 can be as described above. Figure 1 Control unit 200.

[0067] Each module of the control device 500 described above can be implemented by the processor 610 in this embodiment executing the computer program stored in the memory 620, or it can be implemented by other structures, which are not limited here.

[0068] This invention can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0069] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0070] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0071] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0072] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0073] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0074] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0075] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0076] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A surgical control system, characterized in that, include: Control unit; Multiple mechanical units, said multiple mechanical units including a first mechanical unit holding a spy scope; In the case that the first mechanical unit is set to a first state for displaying a screen, the control unit sets at least one mechanical unit that is close to the first mechanical unit to a second state for being operated, based on the preset relative positions of the plurality of mechanical units. The at least one mechanical unit includes a second mechanical unit and a third mechanical unit; Based on the relative positions of the second mechanical unit and the third mechanical unit, the control unit generates a mapping relationship between a first control unit and a second control unit set for the control unit, such that different mechanical units respond to control commands output by different control units; wherein, the mapping relationship is a one-to-one correspondence between different mechanical units and different control units; The control unit sets a preset number of mechanical units that are far from the first mechanical unit into a third state for auxiliary operation.

2. The surgical control system according to claim 1, characterized in that, The plurality of mechanical units is four, the mechanical units in the second state are two, and the mechanical unit in the third state is one.

3. The surgical control system according to claim 1, characterized in that, The first mechanical unit is operated by the left hand via the control unit; the second mechanical unit is operated by the right hand via the control unit.

4. The surgical control system according to claim 1, characterized in that, The control unit determines the relative positions of the multiple mechanical units based on the identifiers set by the multiple mechanical units.

5. The surgical control system according to claim 4, characterized in that, The identifier set is a numerical identifier.

6. The surgical control system according to claim 1, characterized in that, All of the aforementioned mechanical units are movable robotic arms.

7. A control method, characterized in that, In the application of the control unit as described in any one of claims 1 to 6, the method comprises: Upon receiving a trigger signal for holding a viewing mirror in the first mechanical unit among the plurality of mechanical units, the current state of the first mechanical unit is updated to the first state; Based on the preset relative positions of the plurality of mechanical units, at least one mechanical unit that is close to the first mechanical unit is determined; Update the current state of the at least one mechanical unit to the second state.

8. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the control method as described in claim 7.

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