In a control method of a robot system of the present invention, one of two industrial robots is used as a master robot, and the other is used as a slave robot. The switches are to switch power received from a power source to power the load. A through-hole is provided in the spool. The stent-like structure is expanded within the target site to score the target site and to provide temporary structural support while the target site is infused with a therapeutic agent. The invention also relates to the use of the ester-linked Gemini surfactant compounds to facilitate the transfer of polynucleotide into cells. At least one of the plateline drive circuit and said wordline drive circuit has a pullup circuit operable to potentially raise or boost an output terminal of this at least one circuit from a low level up to a high level and a pulldown circuit for letting the output terminal potentially drop from the high level down to the low level.