Method for operating docking system and docking system

Abstract

The invention relates to a method for operating a docking system consisting of a docking device, a control device and an examination table, which can be connected to a medical device associated with the docking device by docking the examination table on the docking device, sensor data being recorded and evaluated by means of the control device, the sensor data describe at least the position of the examination table relative to the docking system and / or relative to an environmental feature of the movement trajectory by means of a sensor system of the docking system in order to determine position information; switching to a support operating mode of the docking system by means of the control device if a switching condition is satisfied, the switching condition indicating the presence of a switching situation and the operation of the inspection table purely manually by an operator; in the support operating mode, the control device determines at least one guidance measure for the examination table by evaluating the sensor data in order to create the docking position, and the guidance measure is implemented by actuating the functional components of the examination table in order to support the operator.

Description

Technical Field

[0001] The invention relates to a method for operating a docking system, the docking system comprising a docking device for an examination table, a control device and the examination table, which can be connected to a medical device to which the docking device belongs by docking the examination table on the docking device. In addition, the invention relates to a docking system. Background Art

[0002] In many cases, it is possible to transport a patient, especially such a patient who must lie down, to a medical device, such as an imaging device, by means of an examination table with an examination table (patient support plate) for supporting the patient, where, when the examination table is positioned accordingly, the examination table can be moved from the examination table to the guide or other holding device of the medical device in an accurately matched manner by means of a docking device, so that it can be transferred to the medical device. Here, a docking connection can also be established between the examination table and the docking device. The docking device preferably docks the examination table in a docking position so that an accurately matched transition between the examination table and the medical device is provided or the transition can be established for the examination table. An example of such a medical device is a magnetic resonance device, in which the patient on the examination table must be moved into a usually cylindrical, elongated patient accommodation and positioned there according to the examination area to be accommodated. After the measures on the patient, especially the image recording, are completed in the medical device, the examination table can be moved back to the examination table, which is preferably still docked, and the docking connection, if a docking connection is performed, can be released again.

[0003] The examination table is usually designed so that it can be moved manually by an operator, such as a medical technician (MTA) or a nursing staff. For this purpose, the examination table can have wheels and an operating mechanism, such as a corresponding handle.

[0004] If the docking device of the medical device is to be accurately hit, that is, if the docking position is to be reached as accurately as possible, difficulties will arise, especially when the operator has little experience. It will be necessary to start several times in order to allow docking. In addition, in many cases, if the examination table is not accurately arranged in the ideal docking position, the examination bed can be retracted or a docking connection can be established by the docking device. Then there will be a sudden lateral movement of the examination bed that may be felt negatively by the patient supported on the examination bed. The following problem may also arise here: when the examination bed is not centrally arranged relative to the docking device, the examination bed and / or the docking device are damaged. Usually, the operator who moves the examination table on the opposite side cannot see or cannot see the docking device clearly enough. In order to avoid these problems, it has been proposed, for example, that two operators are provided on site, one of whom can observe the relative arrangement relative to the docking device in front of the examination table, for example. However, even here, deviations from the ideal docking position may still occur.

[0005] Therefore, the quality and efficiency of the current docking process is related to the number and training of the operating personnel. However, even if the operating personnel are trained, incorrect attempts may occur due to time pressure. It is also disadvantageous that during the docking process the operating personnel focus on the examination table and the medical device, but not on the patient. Summary of the invention

[0006] The object underlying the present invention is therefore to provide a possibility for docking an examination table to a medical device, in particular a magnetic resonance device, in an improved manner, in particular with regard to patient comfort and avoiding damage.

[0007] To achieve this object, it is proposed according to the invention in a method of the type mentioned at the outset that, in order to establish, in particular at least partially autonomously establish, a docking position required for docking the examination table,

[0008] - recording sensor data by means of a sensor system of the docking system and evaluating them by means of a control device in order to determine position information describing the position of the examination table, the sensor data describing at least the position of the examination table relative to the docking system and / or relative to environmental features describing the movement path to the docking system,

[0009] If the changeover conditions are met, the control device switches to a support operating mode of the docking system, which indicates that a changeover situation exists and that the table is operated purely manually by the operator.

[0010] wherein in the support operating mode the control device determines at least one guiding measure for the table by evaluating the sensor data to establish the docking position and implements the at least one guiding measure by actuating functional components of the table to assist the operator.

[0011] In this case, the examination table can have, in particular, an examination couch which can be at least partially transferred to the medical device when the examination table is docked.

[0012] A docking position is therefore to be understood as including not only the positioning at the optimal docking location but also the optimal docking orientation, which means that the term position is also to include the orientation. A purely manual operation of the examination table is to be understood as a normal operating mode of the examination table (and the docking system), so that support, in particular at least partially autonomous support, is only provided for a short period of time during the docking process, i.e., during the positioning of the examination table relative to the docking device.

[0013] To this end, it is proposed that a defined switching situation is provided, when the switching situation occurs (for a short period of time, i.e. until the docking position of the inspection table relative to the docking device is established as accurately as possible), the manual operation, i.e. the normal operation mode, is automatically switched to the support operation mode to facilitate the operator to establish the docking position of the inspection table as accurately as possible.

[0014] Therefore, it can be expedient to provide that the support operating mode is terminated by docking the examination table to the docking device, i.e., in particular reaching the docking position or, if provided, establishing a docking connection or receiving the examination table by the medical technical device. Particularly preferably, when the docking position is reached, a signal for automatically starting docking can be sent to the docking device.

[0015] In this case, any design known in principle from the prior art can be provided for the docking device, in particular with regard to establishing the docking connection and / or for the mechanism for receiving the examination couch from the examination table into the medical device and / or for guiding the examination couch back onto the examination table. The medical device is preferably a magnetic resonance device with a cylindrical patient accommodating portion, into which the received examination couch is moved.

[0016] As is known in principle, the examination table can have a support device for the examination table, in particular a base, wherein the examination table can be supported movably in at least one direction of movement, for example supported on the support device by means of a guide device, in order to be able to transfer the examination table to a medical device, for example. The direction of movement is usually the longitudinal direction of the examination table. With regard to the general implementation of the examination table, designs known in principle in the prior art can also be used, wherein, however, the examination table should be designed to be movable in a manually manner and should have at least one functional component that is controlled by a control device to implement guiding measures. Suitably, the examination table can also include at least a part of the control device, which is preferably completely or at least largely implemented in the examination table. The movability of the examination table can preferably be established via wheels, in particular at least three wheels, of the examination table.

[0017] The basis for the support can be achieved by determining the position relative to the docking device and / or relative to environmental features that describe a suitable movement trajectory. With respect to the docking device, the relative position can also be determined indirectly via additional features whose relative position relative to the docking device is known. Such additional features can, for example, be provided at the medical device and / or define orientation points. With respect to at least one environmental feature, it can be provided that the environmental feature comprises a trajectory line displayed on the floor and / or ceiling of the room in which the medical device is arranged.

[0018] An embodiment of the present invention proposes to display the appropriate movement trajectory as an auxiliary line on the floor or ceiling of the room where the medical technology device is arranged by a trajectory line. In this context, the sensor system preferably includes a camera at the examination table aimed at the front area of ​​the examination table, which camera can detect the trajectory line.

[0019] The track line can be permanently arranged on the floor or ceiling, for example by means of paint or the like, but can also be temporarily, for example projected onto the floor or ceiling. Visible track lines or generally visible environmental features have the advantage that they also serve as orientation aids for the operator and can also be used in particular to mark the spatial share of a switching situation. However, it is feasible to arrange the track line or generally environmental features (and / or additional features) at least partially in an invisible manner, but perceptible by at least one sensor of the sensor system. In this way, the visual burden on the operator is reduced, in particular in a cluttered environment. For example, infrared markers, radio markers, etc. can be used.

[0020] The design with environmental features, in particular trajectory lines, can be expedient in many respects. It can therefore be proposed to use a camera arranged at the inspection table and directed at the inspection table by means of a sensor system to detect environmental features, in particular trajectory lines and / or a certain distance below the inspection table as at least one switching situation.

[0021] Generally, the conversion situation can be limited in time and / or in space. Therefore, the time conversion situation can include, for example: a specific time period has passed since entering the room where the medical technology device is provided and / or at least one docking attempt is unsuccessful. Here, the position information can also be evaluated for the time conversion situation. Therefore, it can be said that the conversion condition preferably evaluates the position information in order to check the existence of the conversion situation. However, it is particularly suitable for the purpose that the conversion situation can also be defined in terms of the workflow that is monitored and optionally supported by the monitoring system in its implementation. Therefore, it can be proposed that the conversion situation includes the completion of the previous workflow step. The previous workflow step can be, for example, entering the room with the medical technology device, the operator registering in the room, positioning the patient for the medical technology device, etc. The completion can be determined automatically, for example, by the mentioned monitoring system and / or again by evaluating the position information and / or sensor data.

[0022] In a further development that meets the purpose, it can be proposed that the change condition additionally checks whether at least one boundary condition is met, in particular whether the current speed of the inspection table is below a speed threshold value. If a speed threshold value is used, it can also be related to other operating situations of the inspection table, in particular the orientation of the inspection table relative to the docking device and / or environmental features, because different speeds may be applicable in the case of different start-up angles in order to find support for the docking position. However, it is also conceivable that the boundary condition is precisely related to the start-up orientation. The boundary condition can also be defined with respect to other aspects, for example, with respect to a free path to the docking position that can be checked by a sensor device or with respect to a free docking position when the setting of the components of the inspection table is suitable, etc., in terms of the settability of the components.

[0023] In this context, it is particularly advantageous to at least temporarily display to an operator, in particular in a room in which the medical device is located, optically and / or acoustically that a boundary condition is currently not met. For this purpose, dedicated or otherwise available optical and / or acoustic output devices of the examination table, the medical device and / or the room can be used.

[0024] For example, in the case of a speed threshold value, it can be provided that at least when the current speed is too high, the situation is indicated, for example, by a red light or an acoustic warning. However, it is generally also expedient to indicate that the boundary condition is met, for example, by a green light or the like. Further classification is possible. In terms of speed, it can be provided, for example, that it is indicated on the scale by means of at least one red and / or green area. For example, colored LEDs or backlight surfaces can be used. Output can also be digital, for example in a corresponding color and / or in a flashing manner in the case of overspeeding.

[0025] In order to avoid inadvertent activation of the support mode when moving the table away from the docking device in spatially limited switching situations, the following advantageous development can be proposed: the switching condition additionally requires a direction of movement of the table toward the docking device. In this way, comfort and support are further improved.

[0026] In a particularly preferred development of the invention, it can be provided that the (later spatially defined) changeover situation includes position information indicating the position of the examination table in a transfer area defined relative to the docking position. The transfer area can also be defined relative to environmental features or the described movement trajectory, in particular relative to the trajectory line.

[0027] The transfer area provides a limited transfer position to support the operation. For better recognizability of the operating personnel, in particular, in addition to the trajectory line, the transfer area can be marked on the floor where the examination table moves and / or the medical technology device is located. The transfer area is selected in accordance with the purpose so that a movement trajectory that is as comfortable as possible for the patient supported on the examination bed, especially a movement trajectory of environmental characteristics, can be achieved to the docking position. For this reason, for example, the transfer area is defined according to the most unfavorable possible orientation of the examination table in different directions starting from the docking position or trajectory line, in the following manner: then select the following spacing from the docking position or trajectory line in the corresponding direction: the spacing allows the movement trajectory of the docking position that meets the comfort conditions for the movement trajectory. In the case of environmental characteristics, the movement trajectory described by the environmental characteristics can also meet the comfort conditions. In the described context, but the described support method can also be generally referred to as "smooth docking (Smooth Docking)".

[0028] In an embodiment with environmental features, in particular trajectory lines, which describe a suitable movement trajectory, it can be provided that guidance measures are determined with respect to the described movement trajectory, in particular in order to realize the described movement trajectory as largely as possible. If the sensor system has a camera of the inspection table which is directed toward a front area of ​​the inspection table, when detecting the environmental features, for example, image data of the sensor system can be used as sensor data to determine at least one guidance measure for guiding the inspection table along the movement trajectory described by the environmental features.

[0029] For other situations or when only environmental features, especially trajectory lines, are understood as suggestions or orientations, it can be proposed that, based on the current relative position and orientation relative to the docking position and preferably taking into account other objects detected by the sensor system, especially collision-related objects, the motion trajectory of the inspection table to the docking position is first obtained by the control device, and the guidance measures for realizing the motion trajectory are determined. The motion trajectory can also be broadly defined, for example, as an allowed motion corridor, in which the inspection table should move in order to reach the docking position. The motion trajectory can be updated accordingly based on the current position information. As already mentioned, the motion trajectory can be determined so that the motion trajectory meets at least one comfort condition for the patient. At least one comfort condition can be implemented as a comfort boundary condition, which is also discussed in detail below. The basic method approach for obtaining such a motion trajectory and associated guidance measures, especially in the case of considering other dynamic and / or static objects, is in principle known from similar or other application fields, for example in motor vehicles, and can also be optionally used in the form of corresponding adjustments within the scope of the present invention. In particular, preferably in addition to considering static and / or dynamic objects when obtaining at least one guidance measure, the docking system can also include an anti-collision system.

[0030] The environmental detection provided by the sensor system can also be referred to as "monitoring". Ultimately, the control device generates options for supporting the user based on the position and environmental detection. The support allows the examination table to be positioned at an optimal angle and optimal distance relative to the docking device, and in particular allows docking without lateral setbacks and damage.

[0031] In summary, the invention also provides a "smooth docking" process, in which the docking position can be reached as precisely as possible in a simple manner, so that no or almost no sudden movements occur during docking, and the patient can be moved comfortably, in particular into or onto the medical device. Due to the clearly defined transfer areas and guidance measures, the staff learns the optimal docking process, especially in less autonomous embodiments. A high degree of accuracy and precision can be provided with respect to the positioning and orientation of the examination table, wherein the accuracy, including the repeatability, can be provided in all cases and independently of the training of the personnel.

[0032] In a particularly advantageous improvement of the present invention, it can be proposed that the switch to or from the support operating mode is displayed to the operator by means of an optical and / or acoustic and / or tactile indication output by means of at least one output mechanism. In this way, the operator is made aware of the switch in the operating mode. In this way, the existence of the conversion situation, in particular the transfer location in the transfer area, is not only recognized by the control device, but also by the operator. The operator can match his behavior accordingly to the support operating mode. If the guidance measures include longitudinal and / or lateral guidance interventions, such an activation indication is particularly suitable for the purpose. In the case of a purely output guidance indication, as discussed more precisely, the beginning of the guidance indication can already serve as an activation indication.

[0033] Here, the output can be performed acoustically, but preferably an optical and / or tactile output mechanism is used, wherein the output mechanism is also preferably arranged at the examination table and / or the medical technology device. For example, when the support operating mode is activated, the operating mechanism, such as a handle, can vibrate to output a tactile activation indication. The tactile activation indication can be combined with an optical activation indication in particular, wherein the optical activation signal alone is of course also conceivable. For example, the light source can emit light. For example, in an advantageous design scheme, it can be proposed to use at least one state light source, in particular a state light source extending along at least one side of the examination table as an output mechanism. Using an extended optical output mechanism improves perceptibility in an advantageous manner. For example, a surrounding state light source can also be used. The surrounding state light source can be, for example, changed to green when the support operating mode is activated, and switched back again when deactivated. The color switching as an optical activation indication is also particularly obvious, so that it can be clearly perceived. Therefore, overall, notification to the operator is ensured.

[0034] Different degrees of support, also to be understood as degrees of autonomy, are conceivable within the scope of the present invention.

[0035] In a specific embodiment of the present invention, it can be proposed that at least one of the at least one guiding measure is to output a guiding instruction to the operator, wherein an optical and / or acoustic and / or tactile output mechanism or the optical and / or acoustic and / or tactile output mechanism is used as a functional component. Therefore, at least one of the at least one output mechanism that has been used to activate the instruction can also be used for output within the scope of the guiding measure, or other output mechanisms that are preferably arranged at the examination table and / or the medical technology device can be used.

[0036] In the specific embodiment, at least some of the guidance measures involve at least partially outputting guidance instructions to at least one output device which is preferably arranged at the table and / or the medical device and / or is clearly visible to the operator who moves the table manually in the operating position, so that the movement path to the docking position is correspondingly established at least partially by the operator in a responsible manner. This embodiment can also be meaningful when the table moves at least partially autonomously in the support operating mode, for example in the case of partially undetectable and / or poor quality sensor data and / or in the case of critical movements with dynamic objects and / or objects to be protected, so that more responsibility can then be transferred to the operator at least temporarily.

[0037] It should also be noted at this point that such an output mechanism for activating instructions and / or guiding instructions can also be used to avoid collisions. For example, possible collision objects can be highlighted and / or displayed by means of the output mechanism based on the collision avoidance system and / or other evaluations of the sensor data. The operator can then remove the collision object from the path. This is particularly useful in the case of image data of a camera that detects the front area of ​​the inspection table. The image data can then be displayed with the highlighted collision object.

[0038] Specifically, when outputting guidance instructions, for example, related to steering behavior, i.e., lateral guidance, there may be an output of an arrow whose size may be related to the intensity of the steering intervention, and / or a tactile output on the side to be steered to whose intensity may be related to the intensity of the steering intervention, and / or an acoustic output (intermittent tone output whose frequency reflects the size, here for example the intensity of the steering intervention or a change still required) depending on the type of parking assistance system, wherein different pitches may be associated on the right and on the left. Similar variants may also be provided in the case of longitudinal guidance instructions, wherein outputs similar to those of parking assistance systems are particularly useful, wherein, for example, approach to a docking device or a docking position may be displayed or a movement trajectory described by environmental features may also be displayed.

[0039] In an exemplary embodiment, it can be provided that the desired movement corridor is output as guidance instructions on an optical output device for the operator.

[0040] This is done in particular by superimposing the image data of the area in front of the inspection table. The image data can also show, in particular, a trajectory. It should be noted here that the output of image data having only a trajectory, i.e., in particular no movement corridor, can already function as a guide. In normal operating mode, the camera can also be activated at least temporarily in order to facilitate the operator's access to the trajectory or, in general, to optically visible environmental features arranged on the floor, as proposed. For this purpose, a display can be provided in the area of ​​the operating device as an optical output mechanism.

[0041] In an embodiment, it can be proposed that the guidance indication is a lateral guidance indication. For example, an indication of where to turn to in order to reach the docking position can be provided by an optical and / or tactile output mechanism arranged on the right and left. Here, an output mechanism can also be arranged at the medical technology device, or an output mechanism, such as a light, that is originally arranged at the medical technology device can be used. Thus, the operator can get a glimpse of the actual target. The optical output mechanism can generally be arrow-shaped. Here, an extended optical output mechanism can also be considered, through which the intensity of the recommended steering intervention can be displayed by means of the illuminated position or the length of the illumination. Regarding the tactile output mechanism, it can be proposed that a tactile output mechanism can be provided on the left and right at the operating device, such as a handlebar. Where the steering is to be reversed, vibration can be performed as a guidance indication. The intensity of the recommended steering intervention can be encoded by vibration. In summary, an optical output mechanism arranged at or adjacent to the operating device has the following advantages: a visualized approach function.

[0042] This embodiment in which the operator receives guidance instructions but also causes the table to move completely autonomously can be referred to as "support level 1" (or in the case of an expanded understanding of autonomy, also "autonomy level 1").

[0043] Particularly preferred is an embodiment in which the path to the docking position is at least partially realized autonomously by means of a corresponding actuator of the inspection table as a functional component. It should be noted at this point that inspection tables with transverse guiding actuators and / or longitudinal guiding actuators have been proposed in the prior art, wherein the actuators can then be controlled according to the manipulation of operating elements. This involves, for example, also only simplifying the manual movement of the inspection table in the form of a servo. For example, the following operating elements have been proposed: wherein acceleration and / or braking are carried out by a rotary handle and / or the brake is manipulated by a brake lever. For steering, a steering rod or a pushable rotary handle is proposed. That is to say, if these longitudinal guiding actuators and transverse guiding actuators are set for autonomous guidance in the support operating mode, they can also be used in manual operation (normal operating mode) via corresponding operating elements.

[0044] In a specific, preferred embodiment of the present invention, it is proposed that, in the case of a guidance measure describing a steering intervention, at least one steering actuator of the inspection platform is actuated as a functional component to at least partially implement the steering intervention, and / or in the case of a guidance measure describing a longitudinal guidance intervention, at least one longitudinal guidance actuator of the inspection platform is actuated as a functional component to at least partially implement the longitudinal guidance intervention. It is therefore conceivable to at least partially automate the transverse guidance and / or the longitudinal guidance, thereby providing a corresponding degree of autonomy. In this case, the steering intervention and / or the longitudinal guidance intervention is preferably fully implemented, wherein only a partial implementation can also be understood as a guidance instruction.

[0045] The steering actuator can be a common actuator that acts on the orientation of the wheels of the inspection platform, wherein it is conceivable that the steering actuator acts not only on a part of the wheels but also on all wheels. For example, the steering actuator can be used for automatic lane guidance and / or the steering actuator can provide active steering at the chassis. Longitudinal guidance intervention includes acceleration intervention and braking intervention. Correspondingly, the longitudinal guidance actuator can especially include a drive actuator and / or a brake actuator. Depending on the degree of autonomy of the inspection platform when occupying the docking position, or in other words, according to how the responsibility for moving the inspection platform should be arranged, different degrees of guidance measures on the actuator side can be allowed. For example, as discussed in detail below, it is conceivable to limit the autonomous guidance of the inspection platform to lateral guidance, and also entrust the longitudinal guidance to the operator. The operator then determines whether the inspection platform moves. Independently of this, of course, the following embodiment can also be conceivable: wherein steering intervention and / or longitudinal guidance intervention are allowed as guidance measures only within a certain intensity, and for operations exceeding this intensity, the guidance measures entrusted to the operator through guidance instructions are determined.

[0046] In particular, in cases where it is still necessary for the operator to be at the inspection table in the support operating mode, but also for the sake of further autonomy, an advantageous design solution proposes that the guidance measure be terminated in the case of an operator's action to counter the guidance measure involving a steering intervention and / or a longitudinal guidance intervention. That is, in the described case, in this design solution, the guidance measure, specifically the corresponding steering intervention and / or longitudinal guidance intervention, is manually overridden by the operator. If the operator monitors the at least partially autonomous operation of the inspection table and the operator judges that the guidance measure is quite inappropriate, that is, the proposed option is rejected, the guidance measure can be overridden and terminated by forceful counter-steering or general counter-control. In this case, it is monitored via a suitable inspection table sensor device whether there is an operator's action to counter the intervention. In this case, it can be checked whether the intensity of the counter-action exceeds a threshold value. If this is the described case, the counter-action is identified as counter-control and the guidance measure is terminated.

[0047] A “support level 2” (or “autonomy level 2”) may be associated with embodiments in which lateral guidance is performed autonomously by lateral guidance interventions, whereas longitudinal guidance is entrusted to an operator and lateral guidance interventions may be overridden.

[0048] In the case of an at least partially autonomous movement of the inspection table by the control device, it can be provided in an expedient embodiment of the invention that an actuation detection device and / or an actuation operating element is provided on the inspection table, in particular on the operating device of the operator, or separately from the inspection table, and the actuation detection device or the actuation operating element or the actuation data of the actuation detection device and the actuation operating element are evaluated on the control device side to determine an actuation information indicating monitoring and / or preparation for actuation by the operator, wherein the steering actuator and / or the longitudinal guidance actuator is actuated only when monitoring and / or preparation for actuation are displayed. With the aid of such a actuation detection device and / or an actuation operating element, it can be checked whether monitoring is displayed to the operator and / or whether the operator is ready for actuation, that is, if in doubt, the operator can quickly react and manually assume control of the inspection table. Such actuation detection device and / or an actuation operating element can be expediently arranged on the operating device of the inspection table, in particular also adjacent to the operating device of the inspection table, for example adjacent to a handle or a lever that the operator can grip to manually move the inspection table. The manipulation detection device can check, for example, whether the operator's hand grasps the manipulation device, and can be designed, for example, as a capacitive and / or inductive sensor. However, it is particularly preferred to use a manipulation operating element, by means of which the operator must actively indicate that he is monitoring the movement and / or is at the inspection table and is ready to manipulate.

[0049] It is particularly useful here if the operating element comprises a deadman switch which can be actively placed in the operating position against a restoring force. For example, the operating element can comprise a lever arranged adjacent to a handle and / or a rod as an operating device, which lever can be moved against a restoring force towards the handle or rod. Such a deadman switch can also be referred to as a "dead man grip" (DMG).

[0050] In general, it should be noted that the actuating and operating element can also be understood as a triggering of the autonomous movement of the table by the operator by means of an actuation, or can also stop the autonomous movement when the actuation is completed. Designs are also conceivable in which the actuating and operating element is not arranged at the table, but at or as an additional operating device. In this case, the actuating and operating element can optionally only display the monitoring.

[0051] "Support level 3" (or "autonomy level 3") may be associated with an embodiment in which longitudinal and transverse guidance is autonomously performed by guidance interventions and readiness for operation is indicated by actuating operating elements, in particular disable switches. Override control is also possible here.

[0052] In particular with regard to further autonomy, i.e., in particular when monitoring and / or preparation for manipulation by an operator is no longer necessary, but also in other general cases, it is expedient for the docking system, in particular the inspection table, to have an emergency stop switch, wherein the control device terminates the support operating mode when the emergency stop switch is actuated. In this case, the movement of the inspection table is terminated, in particular with the termination of the support operating mode, in other words, the inspection table is stopped. The emergency stop switch can be used for manual intervention in an emergency, i.e., for an emergency stop.

[0053] A “support level 4” (or “autonomy level 4”) may be associated with embodiments in which the longitudinal guidance and the lateral guidance are performed autonomously by means of guidance interventions and an emergency shut-off switch is provided.

[0054] As already mentioned, different degrees of autonomy of the inspection table are conceivable when supporting the operator. It has proven to be particularly useful to determine and implement only the guidance measures related to the transverse guidance, so that the longitudinal guidance is still entrusted to the operator completely manually. In this design, the operator still has to move the inspection table himself. Since the operator is responsible for the longitudinal guidance himself, the operator bears a large share of the overall responsibility. In particular, the speed of the inspection table is still determined by the operator. However, due to the independent steering, the inspection table can precisely control the docking position. Therefore, it can be operated in particular by a single employee.

[0055] In summary, therefore, different degrees of support or autonomy are possible in the support operating mode. In a simple embodiment, only a situation detection is performed and options are determined and suggested, in particular by guidance instructions. A further embodiment is one in which the transverse guidance is automatically taken over by means of the steering actuator via the control device and corresponding guidance measures, but the longitudinal guidance remains with the operator, who can override it by opposing actions (support level 2).

[0056] Further autonomy is achieved when the guiding measures for both longitudinal and transverse guidance are automatically implemented by means of corresponding actuators of the inspection table, but the operator monitors the movement and / or remains ready for operation, in particular at the inspection table itself, and this is preferably indicated by an operating element, in particular a disable switch (support level 3). The operator thus monitors the movement of the inspection table and can stop the movement, for example by releasing the operating element, or optionally in an embodiment take over the movement himself by a countermovement. In this embodiment, the operator can monitor the movement for potential collisions, for example when static and / or dynamic objects are not taken into account or are only taken into account to a limited extent and / or when there is no collision avoidance system.

[0057] Finally, a design is also conceivable in which the operator no longer has to monitor the movement and release the movement by actuating an operating element, in particular a disable switch. The operator can thus focus on other tasks. In this case, the sensor system and the actuators, in particular at least one steering actuator and at least one longitudinal guide actuator, should be designed to be safe, in particular to meet at least one safety standard, for example by redundant design, plausibility checks, etc. Thus, collisions, etc. can be avoided. For emergency situations, an emergency shut-off switch is then expediently provided at the inspection station for manual emergency stop (support level 4).

[0058] In a preferred design, it can be proposed that when seeking a steering intervention and / or a longitudinal guidance intervention, the control device is configured to take into account at least one comfort boundary condition related to the comfort of the patient supported on the examination bed. That is, for example, the intensity of the intervention that can be automatically performed can be limited in order to ensure that the movement of the examination table is as comfortable as possible for the patient. In terms of longitudinal guidance, the acceleration value and / or speed value of the longitudinal guidance intervention can be particularly limited by the comfort boundary condition, and in the preferred design of the steering intervention, the comfort boundary condition includes the maximum allowable turning radius. In particular, when the speed is controlled by the control device, the comfort boundary condition can also include the maximum allowable angular acceleration. In this way, sudden movements in the docking process for preparing docking can be avoided in particular, so that the patient can comfortably drive to the medical technology device. A comfortable driving speed and comfortable turning guidance for the patient can be achieved.

[0059] Regarding the sensor system, it can be proposed that at least some of the sensors of the sensor system are arranged at the inspection table. For example, an environmental sensor in the sensor system that detects the environment of the inspection table can be arranged at the outer covering of the inspection table or behind the outer covering facing the environment. The inspection table, for example, a position sensor for determining the position of the position determination system can also be arranged inside the inspection table. Particularly preferably, all sensors of the sensor system can be arranged at the inspection table. If the control device is also completely positioned in the inspection table, all components necessary for implementing the method according to the present invention can be arranged in the inspection table. However, it would also be in line with the purpose to use an external sensor device, in particular an external sensor device for performing environmental detection, because for example, the environmental sensor of the sensor system arranged at the ceiling of the room in which the medical technology device is arranged and / or at the medical technology device can have a better overview or a more suitable detection range.

[0060] In particular, for example, a sensor system may be used, which has at least one sensor from the group consisting of:

[0061] - at least one optical sensor, in particular a camera, preferably a 3D camera, and

[0062] At least one distance sensor, in particular a radar sensor and / or an ultrasonic sensor.

[0063] Such sensors are often used in applications for automatically moving objects, such as in this case an inspection table. Thus, for example, it can be provided that camera-based positioning and / or environmental monitoring is used, wherein additionally or alternatively, in particular also when taking into account static and / or dynamic objects and / or when avoiding collisions, distance sensors, such as radar sensors and / or ultrasonic sensors, are useful.

[0064] As already mentioned, the invention can be particularly usefully applied if the medical device is a magnetic resonance device. In this context, the following particularly useful design is possible for determining the position information of the examination table: the design uses the magnetic field present outside the patient receiving portion of the magnetic resonance device, which can be understood as the stray field of the magnetic resonance device. Specifically, it can then be provided that the sensor system includes at least one magnetic field sensor, in particular a Hall sensor, of the examination table, wherein the sensor data of the magnetic field sensor are matched to the magnetic field map of the stray field of the magnetic resonance device in its environment in order to determine the position information. In this case, a plurality of magnetic field sensors can be used in order to increase the accuracy of the positioning of the examination table and eliminate ambiguities.

[0065] In summary and generally speaking, within the scope of the present invention, at least one transverse guiding actuator, in particular a steering actuator, and / or at least one longitudinal guiding actuator, in particular a drive actuator and / or a brake actuator, and / or at least one output mechanism of the inspection bench can be used as functional components of the inspection bench.

[0066] In addition to the method, the present invention also relates to a docking system, which consists of a docking device for an examination table, a control device, a sensor system and an examination table, the examination table having at least one functional component and being able to connect the examination table to a medical device to which the docking device belongs when the examination table is docked on the docking device, wherein the control device is designed to execute the method according to the invention. All the embodiments of the method according to the invention can be transferred analogously to the docking system according to the invention, so that the advantages already mentioned can also be achieved with the docking system.

[0067] It should also be noted here that, as mentioned, it is conceivable to completely integrate the control device and the sensor system in the examination table, so that the method according to the invention can also be carried out with the help of the examination table alone. That is to say, in this case, a conceivable examination table has a control device, a sensor system and at least one functional component, wherein the examination table can be connected to the medical-technical device when docking the examination table to a docking device of the medical-technical device, wherein the control device is designed to carry out the method according to the invention. Here, the embodiments concerning the method according to the invention also apply accordingly.

[0068] In particular, the control device for both the docking system according to the invention and for conceivable examination tables has:

[0069] an evaluation unit for evaluating sensor data recorded by means of the sensor system in order to determine position information describing the position of the examination table, the sensor data describing at least the position of the examination table relative to the docking system and / or relative to environmental features describing the movement path to the docking system,

[0070] a switch unit for monitoring whether a switch condition is fulfilled and for switching to a support operating mode if the switch condition is fulfilled, the switch condition indicating the presence of a changeover situation and purely manual operation of the table by an operator,

[0071] a measure ascertaining unit for ascertaining at least one guiding measure for the inspection table in order to establish a docking position by evaluating the sensor data in a support operating mode, and

[0072] An actuation unit for implementing guidance measures to assist an operator by actuating functional components of the examination table.

[0073] Generally speaking, the control device may include at least one processor and at least one storage device. The above functional units and other functional units may be implemented by hardware and / or software.

[0074] The method according to the invention can be realized completely in a computer-implemented manner. Therefore, a computer program can also be provided. The computer program has program means, which, when executed on a control device of a docking system according to the invention, causes the control device to perform the steps of the method according to the invention. The computer program can be stored on an electronically readable data carrier. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Further advantages and details of the invention are apparent from the exemplary embodiments described below and from the accompanying drawings. They show:

[0076] Figure 1 A view showing a docking system according to the invention,

[0077] Figure 2 shows a schematic top view of a room in which a docking system is arranged,

[0078] Figure 3 A simplified diagram for illustrating motion planning is shown,

[0079] Figure 4 A schematic top view showing another variant of a room in which a docking system is arranged,

[0080] Figure 5 A diagram showing a special output mechanism for meeting boundary conditions,

[0081] Figure 6 A view showing the operating area of ​​the inspection table in the first specific embodiment,

[0082] Figure 7 A view showing the operating area of ​​the inspection table in the third specific embodiment,

[0083] Figure 8 A view showing the operating area of ​​the inspection table in the fourth specific embodiment,

[0084] Fig. 9 A flow chart showing an embodiment of the method according to the present invention, and

[0085] Fig.10 A simplified functional schematic diagram of a control device of a docking system is shown. DETAILED DESCRIPTION

[0086] Figure 1An exemplary stereoscopic view of the components of the docking system 1 according to the invention is shown. The medical device 2 is in the present case designed as a magnetic resonance device 3 with a cylindrical patient receiving portion 4. In addition, a docking device 5 is provided, which in the present case has a lower docking mechanism 6 and an upper retraction device 7 for retracting an examination bed 8 into a guide device 9 inside the patient receiving portion 4, so that a patient supported on the examination bed 8 can be positioned in the patient receiving portion 4 for imaging.

[0087] The examination table 10 of the docking system 1 currently has a carrying device 11, on which the examination bed 8 is supported movably in the longitudinal direction of the examination bed 8 by means of a guide device on the examination table side, which is not shown in detail. The carrying device 11 has a chassis 12 with wheels 13 and an operating device 14, such as a handle and / or a gripping rod, so that the examination table 10 can be moved manually by an operator. The manual movability in the normal operating mode can be supported by an actuator that can be controlled by means of an operating element on the operating device 14. In addition, when reaching a transfer area on the way to the docking device 5, in particular to the optimal docking position, the examination table 10 can support the operator with different degrees of support during positioning in a temporary support operating mode.

[0088] To put this more precisely, Figure 2 A purely schematic top view of a first variant of a room 15a in which a medical device 2 is arranged is shown. An examination table 10 has also been placed in the room 15a. A docking position 16 which is ideal for docking, including a docking location and a docking orientation, is schematically indicated in front of the docking device 5. In addition, in this case, the docking mechanism 6 has a receptacle for the front region of the chassis 12 and establishes a docking connection between the examination table 10 and the docking device 5 during docking. Thus, for example, the examination table 10 can be locked in its docked position.

[0089] In order to assist the operator in establishing the docking position 16 as precisely as possible, a transfer area 17 is defined and also marked on the floor of the room 15a. The transfer area 17 is positioned such that, independently of the orientation of the examination table 10 when entering the transfer area 17, it can be moved into the docking position 16 while satisfying comfort boundary conditions.

[0090] In order to provide support, the test bench 10 has a control device 18 in order to determine guidance measures in the support operating mode in order to move the test bench 10 at least partially autonomously into the docking position 16 or to support the operator in this process. Different functional components 19 of the test bench 10 are actuated according to the guidance measures, which functional components 19 currently include a steering actuator 20, a longitudinal guidance actuator 21 (currently a drive actuator and a brake actuator) and partially include output means 22 of the test bench 10. Currently, the test bench 10 also includes a status light source extending laterally at the test bench 10 as an additional output means 23, which is actuated by the control device 18 when switching to the support operating mode to output an activation indication, for example, to emit green light for the duration of the support operating mode. The steering actuator 20 and the longitudinal guidance actuator 21 are optional here and are not or not completely necessary for low support levels, in particular support levels 1 and 2, which will be discussed in detail below.

[0091] In order to be able to determine whether a switch from the normal operating mode to the support operating mode should be made, and thus whether the changeover condition is met, a sensor system is also provided here as part of the docking system 1, which in this embodiment has: a sensor outside the inspection table 10, in the present case a camera 24, in particular a 3D camera; and a sensor as part of the inspection table 10, in the present case a distance sensor 25, in particular an ultrasonic sensor and / or a radar sensor; and a magnetic field sensor 26, in the present case a Hall sensor. In addition, as part of the sensor system, the inspection table 10 itself currently has a camera 27 directed toward the front area of ​​the inspection table 10. Embodiments are also conceivable in which only the sensors of the inspection table 10 are used as part of the sensor system.

[0092] The magnetic field sensor 26 ultimately measures the stray field of the magnetic resonance device 3 that is present at the location of the magnetic field sensor. In particular, when using a plurality of magnetic field sensors 26 and / or also determining the direction of the local stray field, position information about the position of the examination table 10 relative to the docking device 5 can thus be reliably determined based on the magnetic field map of the stray field. This can be plausibly checked with the aid of sensor data of other sensors of the sensor system that describe the relative position.

[0093] The control device 18 derives position information from the sensors of the sensor system, based on which it can be determined whether the inspection table 10 is in the transfer area 17 and whether the inspection table 10 moves toward the docking device 5 as part of the changeover condition. Therefore, this involves a spatially limited conversion situation. As part of the changeover condition, it is also checked whether there is still a pure manual operation, i.e., a normal operation mode. If the changeover condition is met, it is changed to the support operation mode and displayed as described by means of the output mechanism 23 (status light source). Therefore, the operator is informed that the support operation mode is now active.

[0094] In other specific embodiments, the transformation condition may check whether there is a time-limited transformation situation, for example, checking whether the above-mentioned workflow steps are completed.

[0095] In the support operating mode, the control device 18 determines the movement trajectory 28 to the docking position 16 as a basis for determining the guidance measures in the first group of specific embodiments, such as Figure 3 The movement trajectory 28 (and thus also the resulting guidance measures) is determined in such a way that the above-mentioned comfort boundary conditions for the patient, in particular comfort boundary conditions with regard to the turning behavior, are met. For example, a maximum permissible turning radius and / or a maximum permissible angular velocity can be defined; moreover, a limitation of the acceleration and / or the speed during the longitudinal guidance can also be defined.

[0096] When determining the movement trajectory 28, the control device 18 also expediently takes into account static and / or dynamic objects in the movement area detected by the sensors of the sensor system. Alternatively or additionally, the docking system 1 can also include a collision avoidance system. Objects determined as potential collisions can be highlighted on the image of one of the cameras 24, 27 by means of one of the output devices of the operator, so that the operator can remove the object, for example.

[0097] Figure 4 A purely schematic top view of a second variant of a room 15 b is shown. For the sake of clarity, components of the examination table 10 and the camera 24 are no longer shown here, since no changes have been made in this respect.

[0098] and Figure 2 In contrast, in room 15b, the transfer area is not marked on the floor, although this can still be done optionally if a corresponding spatial transformation scenario is used. Instead, a trajectory line 29 is currently used as an environmental feature describing a suitable movement trajectory to docking position 16, which is applied to the floor in the form of an auxiliary line. The trajectory line 29 can also be detected, in particular, by means of a camera 27 of the examination table 10 directed toward the front area.

[0099] In the variant of room 15b, the trajectory 29 is preferably used in the changeover condition and / or as a supporting basis. In the changeover condition, the detectability of the trajectory 29 and / or the distance from it below the maximum distance as the current changeover situation can be checked by the control device 18. The control device 18 can also evaluate the sensor data of the sensor system regarding the relative position of the examination table 10 with respect to the described movement trajectory, in particular alternatively or additionally evaluating the sensor data regarding the relative position with respect to the docking device 5.

[0100] Based on this, in the case of room 15 b or other configurations using environmental features that describe a suitable movement trajectory, support and thus the determination of guidance measures can be associated with driving using the described movement trajectory, ie, here along trajectory line 29 .

[0101] The control device 18 can also be designed to check within the scope of the changeover conditions whether at least one boundary condition for changing to the support operating mode is met. If the boundary condition is not met, this can be displayed to the operator—already in advance—by means of an output device 22 of the test table 10, in particular a dedicated output device 22. In particular, the boundary condition can check, for example, whether the speed of the test table 10 is below a threshold value. In other words, if the speed is too high, no useful support can be possible.

[0102] Figure 5 A dedicated output device 22 is shown in this regard in the form of a scale 30 consisting of backlit colored light sources, in particular LEDs, which is arranged, for example, in the area of ​​the operating device 14. The two uppermost light sources 31 shown with hatching are red and indicate an excessive speed. For lower speeds, yellow and green light sources 31 follow. Of course, other configurations are also conceivable, such as text output, individual light sources that can emit green, yellow or red light, and even acoustic output devices 22.

[0103] The degree to which support and also automation is provided by the control device 18 in the support operating mode varies depending on the specific embodiment, so that differences can also be obtained in the specific design of the inspection table 10. The specific embodiments described below for different degrees of support are not relevant here in terms of how the changeover conditions are designed exactly and whether the guidance measures relate to the docking position 16 or to the movement along the movement trajectory described by the trajectory line 29.

[0104] In a first specific embodiment, which can be associated with a support level 1, the guidance measures involve the actuation of the output device 22 to output guidance instructions to the operator without any steering intervention and / or longitudinal guidance intervention. The operator is solely responsible for the movement of the table and only receives guidance instructions that may relate, for example, to transverse guidance (e.g., whether and to what extent a manual steering to the left and / or right should be performed).

[0105] to this end, Figure 6 A possible embodiment of the operating area of ​​the inspection table 10 with an operating device 14, here a handlebar, is shown. It can be seen that guidance instructions related to lateral guidance can be output to the optical output device 22 in the form of arrows 32. Guidance instructions regarding the direction of rotation can also be provided by means of the tactile output device 22 in the operating device 14, wherein in the present case the right tactile output device 22 can vibrate. Figure 6 An acoustic output device 22 indicated in the upper left center is also conceivable. The guidance instructions can here only relate to the transverse guidance, so that the longitudinal guidance, that is, in particular the speed of the inspection table 10, can be completely entrusted to the operator. However, in the exemplary embodiment, it is also conceivable to also output guidance instructions related to the longitudinal guidance, for example, acoustically in the manner of a parking assistance system.

[0106] It is also conceivable to use an output device (not shown) alternatively or additionally on the medical device 2, for example in the case of a magnetic resonance device 3, above or next to the patient accommodation 4. In particular, an optical output device can be provided on the left and an optical output device on the right to indicate where to turn. In this case, the output devices provided anyway can be used.

[0107] Finally, a display in the operating area can also be used as optical output device 22 , which can show the movement corridor to be used, in particular superimposed with the image data of camera 27 .

[0108] It should be noted that the embodiment of outputting control instructions in the described manner as control measures can also be used in the case of at least partially autonomous control in the support operating mode, for example when a critical situation exists and / or sensor data is poor / no sensor data.

[0109] In the second specific embodiment (support level 2), the current transverse guidance is automated, which means that, at least with regard to the transverse guidance, the inspection table 10 moves automatically. This is achieved by actuating the steering actuator 20. However, the automatic movement should be constantly monitored by the operator. By only taking on the transverse guidance, the operator must also necessarily push the inspection table 10 manually, so that the monitoring activities are necessary in order to completely bring about an effective movement. In this case, the operator has the possibility of overriding, i.e., countersteering, in order to interrupt the guidance intervention.

[0110] In the third specific embodiment (support level 3), not only the transverse guidance but also the longitudinal guidance is realized by the guidance intervention. For this purpose, the control device 18 determines the longitudinal guidance intervention and controls the longitudinal guidance actuator 21 accordingly. In order to ensure that the operator is ready for operation in the third specific embodiment, in which the longitudinal guidance is also automatically assumed by the control device 18 and the corresponding guidance measures, the control area is shown again. Figure 7 Therefore, on the one hand, it can be provided that an operation detection device 33, for example a capacitive and / or inductive sensor for detecting the hand of the operator, is provided in the operating device 14, that is, the operation detection device 33 provides operation data indicating the presence of the hand.

[0111] However, it is preferred that an operating element 34, here a disabling switch 35, which can be moved into the operating position against the restoring force, is provided at the operating device 14. In the example shown, when the operating device 14, which is designed as a handle, is grasped by the operator, the disabling switch 35 can be easily operated at the same time to display monitoring and operating readiness and to release the autonomous movement. If the operation of the disabling switch 35 is terminated, any movement is also stopped. Therefore, if the operating readiness is not important, the disabling switch 35 or generally the operating element 34 can also be arranged outside relative to the inspection table 10, for example, as an additional operating device or in an additional operating device.

[0112] However, the advantage of being arranged at the inspection table 10 and thus directly establishing the manipulation preparation is that here too there is the possibility of overriding individual control measures or groups of control measures by the operator. If an action of the operator is detected on the control device 18 side to interfere with a control measure whose intensity exceeds a threshold value, the control measure is interrupted here, as in the second specific embodiment. The operator can thus actively intervene.

[0113] In the fourth embodiment (support level 4), the longitudinal and transverse guidance is again fully automated. However, it is not absolutely necessary for an operator to monitor or prepare for manipulation, since the sensor system, the control device 18 and the actuators are designed to be sufficiently safe, in particular to meet at least one safety standard. In this case, the inspection table 10 is moved in a targeted and gentle manner, in particular on the movement path 27 or the trajectory 29, into the docking position 16, while the operator can focus on other tasks. However, as in Figure 8 As shown in FIG. 1 , for this case, an emergency stop switch 36 may also be provided on the test bench 10 and / or outside the test bench 10 , by means of which the test bench 10 can be shut down in an emergency.

[0114] Fig. 9 A general flow chart of the method according to the invention is shown for further explanation: In step S1 , position information indicating the current position of the examination table 10 is determined from sensor data of the sensors of the sensor system, in particular the camera 24 , the distance sensor 25 and the magnetic field sensor 26 .

[0115] In step S2, the position information with respect to the direction of movement is also used over time in order to evaluate whether the changeover condition is met. If the changeover condition is met, step S3 is continued, in which a change is made from the normal operating mode to the support operating mode and this is indicated to the operator by outputting an activation indication, in particular by means of the output device 23. During the entire duration of the support operating mode, the output device 23 preferably lights up green.

[0116] Then, in step S4, the control device 18 determines the current guidance measure to be performed, in particular according to the group, as described above, based on the sensor data, either by determining the movement trajectory 28 or the relative position of the trajectory line 29, in particular taking into account static and / or dynamic objects. Of course, the current position information is also relevant again. As described above (support level 1, 2, 3 or 4), it is determined according to the embodiment which guidance measures are precisely determined.

[0117] Subsequently, in step S5 , the functional component 19 is actuated according to the control measure.

[0118] Then, in step S6, a check is made as to whether the docking position 16 has been reached. If this is not the case, in the next time step the process returns to step S4 again, where the control measures are updated based on the current sensor data.

[0119] However, if the docking position is reached, the normal operating mode is switched back to in step S7, if necessary also after the examination bed 8 has been docked or transferred, and in particular the end of the support operating mode is also displayed. Of course, a completion indication is also output in a targeted manner by means of the output devices 22, 23, which indicates that the docking position 16 has been reached. In addition, in step S7, a signal can also be provided to the docking device 5, which can directly and automatically continue docking, i.e., in particular, can establish a docking connection and retract the examination bed 8. However, this can also be triggered via an operating element.

[0120] The different steps can be implemented in the control device 18 by functional units. To this end, Fig.10 The schematic diagram shows a possible functional design of the control device 18. In addition to the storage device 37, the control device 18 first has an evaluation unit 38 in order to evaluate the sensor data of the sensor system to determine the position information, see step S1. In steps S4 and S6, the evaluation unit 38 can also be used again.

[0121] Furthermore, the control device 18 has a switchover unit 39 for monitoring the switchover conditions and for switching over when the switchover conditions according to step S2 are met. The switchover unit 39 can also control the switchover back to the normal operating mode.

[0122] In the measure ascertainment unit 40 , a guiding measure is ascertained according to step S4 , which can then be implemented in the actuation unit 41 correspondingly by actuating the functional component 19 .

[0123] Of course, other functional units may also be provided to perform other steps in the embodiment, or the functional units may accept other tasks. Therefore, the conversion unit 39 or the control unit 41 may also be configured to control the output mechanism 22, 23 to output an activation indication and / or a completion indication.

[0124] Although the details of the present invention have been illustrated and described in detail by means of preferred embodiments, the present invention is not limited to the disclosed examples and other variations may be derived therefrom by those skilled in the art without departing from the scope of protection of the present invention.

[0125] Regardless of the grammatical part of speech of a particular term, people with either male or female gender identity are included.

Claims

1. A method for operating a docking system (1), the docking system (1) comprising a docking device (5) for an examination table (10), a control device (18) and the examination table (10), wherein the examination table (10) can be connected to a medical device (2) to which the docking device (5) belongs by docking the examination table (10) on the docking device (5), wherein in order to establish a docking position (16) required for docking the examination table (10), in particular to establish at least partially autonomously, - recording sensor data by means of a sensor system of the docking system (1) and evaluating the sensor data by means of the control device (18) in order to determine position information describing the position of the inspection table (10), the sensor data describing at least the position of the inspection table (10) relative to the docking system (1) and / or relative to environmental features describing a movement path to the docking system (1), - switching to the support operating mode of the docking system (1) by means of the control device (18) when a changeover condition is met, which indicates that a changeover situation exists and the inspection table (10) is operated purely manually by an operator, - wherein in the support operating mode, the control device (18) determines at least one guiding measure for the inspection table (10) by evaluating the sensor data to establish the docking position (16), and implements the at least one guiding measure by controlling a functional component (19) of the inspection table (10) to support an operator.

2. The method according to claim 1, characterized in that The changeover scenario includes position information indicating the position of the examination table (10) in a transfer area (17) defined relative to the docking position (16) and / or the completion of a preceding workflow step.

3. The method according to claim 1 or 2, characterized in that: The changeover condition additionally checks whether at least one boundary condition is met, in particular whether the current speed of the test table (10) is below a speed threshold value.

4. The method according to claim 3, characterized in that At least temporarily, in particular in a room (15a, 15b) in which the medical device (2) is arranged, it is visually and / or acoustically displayed to an operator that the boundary condition is currently not met.

5. The method according to any one of the preceding claims, characterized in that The environmental features include trajectory lines (29) displayed on the floor and / or ceiling of the room (15a, 15b) in which the medical device (2) is arranged.

6. The method according to any one of the preceding claims, characterized in that By outputting an optical and / or acoustic and / or tactile indication by means of at least one output device (22, 23), a switch into or out of the support operating mode is indicated to an operator.

7. The method according to claim 6, characterized in that At least one state light source, in particular a state light source extending elongated along at least one side of the inspection table (10), is used as an output device (22, 23).

8. The method according to any one of the preceding claims, characterized in that At least one of the at least one guiding measure is outputting a guiding instruction to an operator, wherein an optical and / or acoustic and / or tactile output device (22) or the optical and / or acoustic and / or tactile output device (22) is used as a functional component (19).

9. The method according to any one of the preceding claims, characterized in that In the case where the guidance measure describes a steering intervention, at least one steering actuator (20) of the inspection table (10) is controlled as a functional component (19) to at least partially implement the steering intervention, and / or in the case where the guidance measure describes a longitudinal guidance intervention, at least one longitudinal guidance actuator (21) of the inspection table (10) is controlled as a functional component (19) to at least partially implement the longitudinal guidance intervention.

10. The method according to claim 9, characterized in that In the event of an action by the operator opposing one of the guidance measures which involves a steering intervention and / or a longitudinal guidance intervention, the guidance measure is interrupted.

11. The method according to any one of claims 9 or 10, characterized in that An actuation detection device (29) and / or an actuation operating element (30) is provided on the inspection station (10), in particular on an operator's actuation device (14), or separately from the inspection station (10), wherein actuation data of the actuation detection device (29) or the actuation operating element (30) or of the actuation detection device (29) and the actuation operating element (30) are evaluated on the control device (18) to obtain actuation information indicating monitoring and / or preparation of actuation by the operator, wherein the steering actuator (20) and / or the longitudinal guide actuator (21) is actuated only when monitoring and / or preparation of actuation is indicated.

12. The method according to claim 11, characterized in that The actuating element (30) comprises a disabling switch (31) which can be moved into an actuating position actively against a restoring force.

13. The method according to any one of the preceding claims, characterized in that The docking system (1), in particular the inspection table (10), has an emergency stop switch (32), wherein the control device (18) terminates the support operating mode when the emergency stop switch (32) is actuated.

14. The method according to any one of the preceding claims, characterized in that Only the guidance measures which are relevant to the transverse guidance are ascertained and implemented.

15. The method according to any one of the preceding claims, characterized in that When determining the steering intervention and / or the longitudinal guidance intervention, the control device (18) is designed to take into account at least one comfort boundary condition relating to the comfort of a patient supported on the examination couch (8).

16. The method according to claim 15, characterized in that The comfort boundary conditions include the maximum permissible turning radius.

17. The method according to any one of the preceding claims, characterized in that The medical-technical device (2) is a magnetic resonance device (3).

18. The method according to claim 17, characterized in that The sensor system comprises at least one magnetic field sensor (26), in particular a Hall sensor, of the examination table (10), wherein sensor data of the magnetic field sensor (26) are matched to a magnetic field map of a stray field of the magnetic resonance device (3) in its environment in order to determine position information.

19. A docking system (1), the docking system (1) consisting of a docking device (5) for an inspection table (10), a control device (18), a sensor system and the inspection table (10), the inspection table (10) having at least one functional component (19), and being able to be connected to a medical technical device (2) to which the docking device belongs by docking the inspection table (10) on the docking device (5), wherein the control device (18) is configured to execute a method according to any one of the above claims.

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