Method for operating a docking system and docking system

Abstract

The invention relates to a method for operating a docking system, which is composed of a docking device, a control device and a docking station, by means of which a docking station can be connected to a medical-technical device to which the docking device belongs, sensor data are recorded and evaluated by means of the control device, the sensor data describe at least the position of the docking station relative to the environment of the docking system and / or relative to a movement path by means of a sensor system of the docking system in order to ascertain position information; in the event of a transformation condition being met, which indicates the existence of a transformation situation and is fulfilled by the operator manually operating the docking station, a switch is made by the control device into a support operating mode of the docking system; in the support operating mode at least one guiding measure for the docking station is ascertained by the control device by evaluating the sensor data in order to produce a docking position, and the guiding measure is implemented by actuating functional components of the docking station in order to support the operator.

Description

TECHNICAL FIELD

[0001] The application relates to a method for operating a docking system, which is composed of a docking device for an examination table, a control device and an examination table, which can be connected to a medical-technical device to which the docking device belongs by docking the examination table on the docking device. Furthermore, the application relates to a docking system. BACKGROUND

[0002] It is possible in many cases to transport a patient, in particular such a patient who has to lie down, to a medical-technical device, for example an imaging device, by means of an examination table with an examination couch (patient support plate) for supporting the patient, which can be moved precisely into a guide or other holding device of the medical-technical device by means of a docking device when the examination table is correspondingly positioned, and thus can be transferred into the medical-technical device. Here, too, a docking connection can be established between the examination table and the docking device. The docking device preferably carries out the docking of the examination table in a docking position, so that an examination couch is provided with a precise fit or can be provided with a precise fit between the examination table and the medical-technical device. One example of such a medical-technical device is a magnetic resonance device, in which a patient on an examination couch has to be moved into a usually cylindrical, elongate patient accommodation and positioned there in accordance with the examination region to be accommodated. After the measures on the patient, in particular the image recording, have been completed in the medical-technical device, the examination couch can be moved back onto the examination table, which is preferably still docked, and the docking connection, if it has been established, can be released again.

[0003] The examination table is usually designed in such a way that it can be moved manually by an operating person, for example a medical-technical assistant (MTA) or a nursing staff. To this end, the examination table can have, for example, wheels and a steering mechanism, for example corresponding handles.

[0004] If the docking device of the medical technology apparatus is to be hit precisely, i.e. if the docking position is to be reached as precisely as possible, difficulties arise, especially in the case of less experienced operating personnel. Here, it can arise that several starts are required in order to allow the docking. Furthermore, in many cases, if the examination table is not set precisely in the ideal docking position, the examination couch can be retracted or a docking connection can be established by the docking device. Then, a sudden lateral movement of the examination couch, which can be perceived negatively by a patient supported on the examination couch, arises. Here, it can also arise that the examination couch and / or the docking device are damaged when the examination couch is not set centrally with respect to the docking device. Usually, the operating personnel who moves the examination table at opposite sides cannot see or cannot see sufficiently clearly the docking device. In order to avoid these problems, it has been proposed, for example, that two operating personnel are present on site, wherein one operating personnel can observe the relative arrangement with respect to the docking device, for example, in front of the examination table. However, even here, it can arise that the ideal docking position is deviated from.

[0005] Therefore, the quality and efficiency of the current docking process are related to the number and training of the operating personnel. However, even in the case of trained operating personnel, an erroneous attempt can arise due to time pressure. Furthermore, it is disadvantageous that the operating personnel focus on the examination table and the medical technology apparatus during the docking process, but not on the patient. SUMMARY

[0006] Therefore, the purpose on which the present application is based is to propose a possibility for docking an examination table to a medical technology apparatus, in particular a magnetic resonance apparatus, in particular improved with respect to patient comfort and avoidance of damage.

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

[0008] - sensor data describing at least a position of the examination table with respect to the docking system and / or with respect to environmental features describing a movement trajectory to the docking system are recorded by means of a sensor system of the docking system and evaluated by means of a control device in order to derive position information describing a position of the examination table,

[0009] - in the case of fulfillment of a transition condition, a switch into a support mode of operation of the docking system is carried out by means of the control device, which indicates a transition situation and is carried out by the operating personnel purely manually.

[0010] - wherein in the support mode of operation at least one guiding measure for the examination table is derived by means of the control device by evaluating the sensor data in order to establish the docking position, and the at least one guiding measure is implemented by means of actuating functional components of the examination table in order to support the operating personnel.

[0011] Here, the examination stand can in particular have an examination couch, which can be at least partially transferred to the medical-technical device in the case of the docking of the examination stand.

[0012] The docking position is therefore to be understood such that it comprises not only the positioning at the optimal docking site, but also the optimal docking orientation, which means that the term position is also to include the orientation (direction). The purely manual operation of the examination stand is to be understood as the normal operating mode of the examination stand (and of the docking system), so that it is thus proposed to provide support, in particular at least partially autonomous support, only for a short time during the docking process, i.e. positioning of the examination stand relative to the docking device.

[0013] To this end, it is proposed that a defined switching situation is provided, in which, for a short time, i.e. until the docking position of the examination stand relative to the docking device has been established as precisely as possible, a change from the manual, i.e. normal, operating mode to the support operating mode takes place automatically, in order to facilitate the establishment of the docking position of the examination stand by the operating personnel as precisely as possible.

[0014] The docking position is therefore to be understood such that it comprises not only the positioning at the optimal docking site, but also the optimal docking orientation, which means that the term position is also to include the orientation (direction). The purely manual operation of the examination stand is to be understood as the normal operating mode of the examination stand (and of the docking system), so that it is thus proposed to provide support, in particular at least partially autonomous support, only for a short time during the docking process, i.e. positioning of the examination stand relative to the docking device.

[0015] Here, finally, any design which is known in principle from the prior art can be proposed for the docking device, in particular for the establishment of the docking connection and / or for the means for receiving the examination couch from the examination stand into the medical-technical device and / or for guiding the examination couch back onto the examination stand. The medical-technical device is preferably a magnetic resonance device having a patient accommodation which is cylindrical, into which the received examination couch is moved.

[0016] As is known in principle, the examination stand can have a carrier device, in particular a base, for the examination couch, wherein the examination couch can be movably supported, for example by means of guide devices, on the carrier device in at least one movement direction, in order to be able to realize, for example, the transfer of the examination couch to the medical-technical device. The movement direction is usually the longitudinal direction of the examination couch. With regard to the general implementation of the examination stand, design solutions which are known in principle from the prior art can also be used, wherein, however, the examination stand is to be designed movably in a manual manner and is to have at least one functional component which is actuated by a control device in order to realize the guiding measures. In line with the object, the examination stand can also comprise at least a part of the control device, which is preferably realized completely or at least predominantly in the examination stand. The movability of the examination stand can preferably be established via wheels, in particular at least three wheels, of the examination stand.

[0017] The basis for the support can be achieved by determining the position relative to the docking device and / or relative to an environmental feature describing a suitable movement trajectory. In the context of the docking device, the relative position can also be determined indirectly via an additional feature whose relative position relative to the docking device is known. Such an additional feature can be provided, for example, at the medical-technical device and / or defines an orientation point. In the context of at least one environmental feature, it can be proposed that the environmental feature comprises a trajectory line displayed on the floor and / or at the ceiling of a room in which the medical-technical device is provided.

[0018] Embodiments of the application propose that a suitable movement trajectory is displayed as an aid line by a trajectory line on the floor or at the ceiling of a room in which the medical-technical device is provided. In the described context, the sensor system preferably comprises a camera at the examination table which aligns a front region of the examination table, which camera can detect the trajectory line.

[0019] The trajectory line can be permanently provided on the floor or at the ceiling, for example by means of paint or the like, but can also be temporarily provided, for example projected, on the floor or at the ceiling. The visible trajectory line or generally visible environmental feature has the advantage that it also serves as an orientation aid for the operator and can be used, in particular, also to mark the spatial share of a transition situation. However, it is also possible for the trajectory line or generally the environmental feature (and / or also the additional feature) to be provided at least partially in a manner which is not visible but can be perceived by at least one sensor of the sensor system. In the described manner, the visual burden on the operator is reduced, in particular in a cluttered environment. For example, infrared markings, radio markings or the like can be used.

[0020] The design proposal with the environmental feature, in particular the trajectory line, can be purposeful in many respects. It can thus be proposed that the use of an environmental feature, in particular a trajectory line, and / or a certain distance below the examination table is used as at least one transition situation by means of a camera provided at the examination table by the sensor system which aligns the examination table.

[0021] In general, the transition situation can be defined in time and / or in space. Thus, a temporal transition situation can comprise, for example, a lapse of a specific period of time from entering a room provided with a medical technical device and / or at least one docking attempt being unsuccessful. Here, too, the position information can be evaluated for the temporal transition situation. In general, it can thus be said that the transition condition preferably evaluates the position information in order to check for the existence of the transition situation. However, it is also particularly expedient to define the transition situation in terms of the workflow which is monitored and optionally supported in its implementation, in particular by the monitoring system. It can thus be proposed that the transition situation comprises the completion of a preceding workflow step. The preceding workflow step can be, for example, entering the room with the medical technical device, the registration of the operating personnel in the room, positioning the patient for the medical technical device, etc. The completion can be determined automatically, for example by the monitoring system mentioned and / or again by evaluating the position information and / or sensor data.

[0022] It can be proposed in a particularly expedient refinement that the transition condition additionally checks whether at least one boundary condition is fulfilled, in particular whether the current speed of the examination table is below a speed threshold. If a speed threshold is used, this can also be related to other operating situations of the examination table, in particular the orientation of the examination table relative to the docking device and / or environmental features, since different speeds can be appropriate in the case of different starting orientations in order to find support for the docking position. However, it is also conceivable for the boundary condition to be related exclusively to the starting orientation. The boundary condition can also be defined in terms of other aspects, for example in terms of the aspect of a free path to the docking position which can be checked by sensor means or in terms of the aspect of a free docking position in the case of a suitable setting of components of the examination table in terms of the setability of the components.

[0023] It is particularly advantageous in the context to optically and / or acoustically display at least the current non-fulfillment of the boundary condition to the operating personnel at least temporarily, in particular within the room provided with the medical technical device. For this purpose, dedicated or otherwise available optical and / or acoustic output means of the examination table, the medical technical device and / or the room can be used.

[0024] It can be proposed, for example in the case of a speed threshold, that at least in the case of a current speed which is too high, the situation is displayed, for example by a red light or an acoustic warning. However, it is also generally expedient to display the fulfillment of the boundary condition, for example by a green light, etc. Further gradations are possible. In the case of the speed, for example, it can be proposed to display on a scale by means of at least one red and / or green area. For example, color LEDs or backlit surfaces can be used. It is also possible to output numerically, for example in the corresponding colors and / or in a flashing manner in the case of overspeed.

[0025] In order to avoid unintentional activation of the support mode of operation when moving the examination table away from the docking device as far as possible in the spatially defined transition situation, the following advantageous refinement can be proposed: The transition condition additionally requires the direction of movement of the examination table to the docking device. In this way, the comfort and the support are further improved.

[0026] In a particularly preferred refinement of the application, the (subsequently spatially defined) transition situation can be proposed to comprise position information which displays the position of the examination table in a transfer region defined relative to the docking position. The transfer region can also be defined relative to environmental features or a described movement trajectory, in particular relative to a trajectory line.

[0027] The defined transfer position is provided by the transfer region to support the movement. For better recognizability for the operating personnel, the transfer region can be marked, for example, on the floor on which the examination table is moved and / or on which the medical-technical device is located, in addition to the trajectory line, in particular. The transfer region is selected as a destination such that a movement trajectory to the docking position which is as comfortable as possible for a patient supported on the examination table, in particular a movement trajectory of an environmental feature, can be achieved. To this end, the transfer region is defined, for example, according to the least favorable possible orientation of the examination table in different directions from the docking position or the trajectory line, in such a way that a distance from the docking position or the trajectory line in the corresponding direction is then selected which allows a movement trajectory to the docking position which meets the comfort condition for the movement trajectory. In the case of an environmental feature, the movement trajectory described by the environmental feature can also meet the comfort condition. In the context described, the described support method can also be referred to as "smooth docking" in general.

[0028] In an embodiment with an environmental feature, in particular a trajectory line, which describes a suitable movement trajectory, it can be proposed to derive a guidance measure with respect to the described movement trajectory, in particular to achieve the described movement trajectory as far as possible to a large extent. If a sensor system has a camera which is aligned to a front region of the examination table, the image data of the sensor system can be used as sensor data, for example, when detecting an environmental feature, to derive at least one guidance measure for guiding the examination table along the movement trajectory described by the environmental feature.

[0029] For other cases or when the environmental features, in particular the trajectory lines, are understood as a recommendation or orientation only, 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, in particular collision-relevant objects, detected by the sensor system, a movement trajectory of the examination table to the docking position is first determined by the control device, and a guidance measure for implementing the movement trajectory is determined. The movement trajectory can also be broadly defined, for example as an allowed movement corridor in which the examination table should move in order to reach the docking position. The movement trajectory can be updated accordingly based on the current position information. As already mentioned, the movement trajectory can be determined such that it meets at least one comfort condition for the patient. The at least one comfort condition can be implemented as a comfort boundary condition, which is discussed in more detail below. The basic method approach for determining such a movement trajectory and associated guidance measure, in particular taking into account other dynamic and / or static objects, is known in principle from similar or other application areas, for example in motor vehicles, and can also optionally be used in the context of the present application in a correspondingly adapted form. In particular, the docking system can also comprise a collision avoidance system, preferably in addition to taking into account static and / or dynamic objects when determining the at least one guidance measure.

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

[0031] That is, in summary, a "smooth docking" process is also provided by the present application, in which the docking position can be reached as precisely as possible in a simple manner, so that sudden movements do not occur or hardly occur when docking, and the patient is moved comfortably, in particular into or onto the medical-technical device. Due to the clearly defined transfer area and guidance measures, the staff learns the optimal docking process, in particular in less autonomous embodiments. A high precision and accuracy in terms of positioning and orientation of the examination table can be provided, which can be provided in all cases and independently of the training of the personnel, including the repeatability accuracy.

[0032] In a particularly advantageous refinement of the application it can be provided that the switching into or out of the support mode is displayed to the operator by means of an optical and / or acoustic and / or haptic indication output by means of at least one output means. In this way the operator is made aware of the switching of the operating mode. In this way the presence of a transition situation, in particular a transition point in a transition area, is identified not only by the control device but also by the operator. The operator can adapt his behavior accordingly to the support mode. This activation indication is particularly purposeful if the guiding measure comprises a longitudinal and / or lateral guiding intervention. In the case of a pure output guiding indication, as is also discussed more precisely, the start of the guiding indication can already be used as an activation indication.

[0033] Here the output can take place acoustically, however preferably an optical and / or haptic output means is used, wherein the output means is also preferably generally provided at the examination table and / or the medical-technical device. For example, upon activation of the support mode a manipulating means, for example a handle, can be vibrated in order to output a haptic activation indication. The haptic activation indication can in particular be combined with an optical activation indication, wherein an optical activation signal alone is of course also conceivable. For example, a light source can emit light. For example, in an advantageous design it can be provided that at least one status light source, in particular a status light source which extends along at least one side of the examination table, is used as an output means. The use of an extended optical output means advantageously increases the perceptibility. For example, a surrounding status light source can also be used. The surrounding status light source can for example change to green upon activation of the support mode and switch back again upon deactivation. The color change as an optical activation indication is likewise particularly conspicuous and can thus be perceived clearly. Overall, notification of the operator is thus ensured.

[0034] Within the scope of the application different degrees of support, which can also be understood as degrees of autonomy, are conceivable.

[0035] In a specific embodiment of the application it can be provided that at least one of the at least one guiding measure is the output of a guiding indication to the operator, wherein an optical and / or acoustic and / or haptic output means or the optical and / or acoustic and / or haptic output means as a functional component is used. At least one of the at least one output means which is already used for the activation indication can thus also be used for the output within the scope of the guiding measure, or other output means which are preferably provided at the examination table and / or the medical-technical device can be used.

[0036] In the specific embodiment, at least a portion of the guiding measures at least partially involves outputting a guiding indication to at least one output mechanism, which is preferably arranged at the examination table and / or the medical-technical device and / or is clearly visible to an operator who manually moves the examination table in the operating position, so that the movement trajectory to the docking position is correspondingly at least partially established by the operator in a self- responsible manner. Such a design can also be meaningful when the examination table moves at least partially autonomously in the support 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 subsequently be transferred at least temporarily to the operator.

[0037] Here, it should also be noted at this point that such an output mechanism for activating an indication and / or a guiding indication can also be used to avoid collisions. For example, possible collision objects can be highlighted and / or displayed by means of the output mechanism in accordance with a collision avoidance system and / or other evaluations of the sensor data. The operator can then remove the collision objects from the path. This is particularly purposeful in the image data of a camera that detects the front region of the examination table. The image data can then be displayed with highlighted collision objects.

[0038] In particular, when outputting guiding instructions that relate to a steering behavior, i.e. lateral guidance, it is possible to provide an output of an arrow whose size can be correlated with the strength of the steering intervention, and / or a haptic output whose strength on the side to which the steering should be performed can be correlated with the strength of the steering intervention, and / or an acoustic output in accordance with the type of parking assistance system, whose frequency reflects the size, here for example the strength of the steering intervention or the intermittence of the still required change, with different tones on the right and left side being possible. Similar variants are also possible in the case of longitudinal guiding instructions, wherein outputs similar to the parking assistance system are particularly purposeful, wherein for example a proximity to a docking device or docking position or also a movement trajectory described by means of environmental features can be displayed.

[0039] It can be proposed in an embodiment to output a desired movement corridor as a guiding indication on an optical output mechanism of the operator.

[0040] This is particularly done in a superimposed manner with image data of the region in front of the examination table. The image data can also show a trajectory line, in particular. It should be noted here that image data with only a trajectory line, i.e. without a movement corridor, can already function as a guiding indication. In the normal operating mode, a camera can also be activated at least temporarily in order to facilitate the approach of the trajectory line or generally of optically visible environmental features arranged on the floor for the operator as proposed. For this purpose, a display can be provided as an optical output mechanism in the region of the operating device.

[0041] It can be proposed in embodiments that the guidance indication is a lateral guidance indication. For example, it can be provided by optical and / or haptic output means arranged to the right and to the left, which provide an indication of where to turn in order to reach the docking position. Here, too, the output means can be arranged at the medical-technical device, or the output means present at the medical-technical device, for example a light, can be utilized. The operator can then catch sight of the actual target. The optical output means can generally be arrow-shaped. Here, too, extended optical output means can be considered, via which the strength of the recommended turning intervention can be displayed by means of the illuminated position or the length of the illumination. With regard to the haptic output means, it can be proposed that haptic output means can be provided to the left and to the right at the manipulation device, for example a handlebar. Where a turn is to be reversed, a vibration can be carried out as a guidance indication. The strength of the recommended turning intervention can be encoded by means of the vibration. In general, optical output means arranged at the manipulation device or adjacent to the manipulation device have the advantage that the approach function is visualized.

[0042] Such an embodiment, in which the operator obtains a guidance indication but also moves the examination table completely on his own, can be referred to as "support level 1" (or also "autonomy level 1" in the extended understanding of autonomy).

[0043] Particularly preferred is an embodiment in which the path to the docking position is realized at least partially autonomously by means of corresponding actuators of the examination table as functional components. Here, it should already be noted at this point that examination tables with lateral guidance actuators and / or longitudinal guiding actuators have already been proposed in the prior art, wherein the actuators can then be manipulated in accordance with the manipulation of the operating element. This relates, for example, to simplifying the manual movement of the examination table also only in the form of a servo. For example, operating elements have been proposed in which acceleration and / or braking is carried out by means of a rotary handle and / or a brake is manipulated by means of a brake lever. For turning, a turning lever or a pushable rotary handle is proposed. That is, if these longitudinal guiding actuators and lateral guidance actuators are provided for autonomous guidance in the support operating mode, they can also be used in the manual operating mode (normal operating mode) via the corresponding operating elements.

[0044] In one specific, preferred design of the application it is proposed that, in the case of a guidance measure describing a steering intervention, at least one steering actuator of the inspection stand is operated 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 stand is operated as a functional component to at least partially implement the longitudinal guidance intervention. It is thus conceivable to at least partially automate the lateral guidance and / or the longitudinal guidance, thereby providing a corresponding degree of autonomy. Here, the steering intervention and / or the longitudinal guidance intervention is preferably fully implemented, wherein a partial implementation can also be understood as a guidance indication.

[0045] The steering actuator can here be a common actuator which acts on the orientation of the wheels of the inspection stand, wherein it is conceivable for the steering actuator to act not only on a portion of the wheels but also on all of the 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. The longitudinal guidance intervention comprises an acceleration intervention and a braking intervention. Correspondingly, the longitudinal guidance actuator can in particular comprise a drive actuator and / or a brake actuator. Depending on the degree of autonomy of the inspection stand when occupying the docking position, or in other words depending on how the responsibility for moving the inspection stand is to be arranged, different degrees of guidance measures can be permitted in respect of the actuation. For example, as is also discussed in detail below, it is conceivable to limit the autonomous guidance of the inspection stand to the lateral guidance and also to entrust the longitudinal guidance to an operator. The operator then determines whether the inspection stand is moved. Irrespective of this, it is of course also conceivable for embodiments in which the steering intervention and / or the longitudinal guidance intervention is only permitted as a guidance measure up to a certain intensity and for operations beyond this intensity the guidance measure is determined to be entrusted to the operator by means of a guidance indication.

[0046] Especially in the case where the operator is still required at the inspection stand in a support mode of operation, but also for further autonomy, one advantageous design proposes that, in the case of an action of the operator against a guidance measure describing a steering intervention and / or a longitudinal guidance intervention, the guidance measure is terminated. That is to say, in the case described, the guidance measure, in particular the corresponding steering intervention and / or longitudinal guidance intervention, is in this design manually overridden by the operator. If the operator monitors the at least partially autonomous operation of the inspection stand and the operator judges that the guidance measure is rather unsuitable, i.e. the proposed option is rejected, the guidance measure can be overridden and terminated by a forceful counter-steering or general counter-control. Here, it is monitored via suitable inspection stand sensor means whether there is an action of the operator against the intervention. It can be checked here whether the intensity of the action against exceeds a threshold value. If this is the case, the action against is recognised as a counter-control and the guidance measure is terminated.

[0047] "Support level 2" (or "autonomy level 2") can be associated with embodiments in which the lateral guidance is autonomously carried out by lateral guidance intervention, whereas the longitudinal guidance is entrusted to the operator and the lateral guidance intervention can be overridden.

[0048] In the case of at least partially autonomous movement of the examination table by means of the control device, it can be proposed in one object-related design of the application that a manipulation detection means and / or a manipulation operating element is provided at the examination table, in particular at the operator's manipulation device, or separately from the examination table, the manipulation data of the manipulation detection means or the manipulation operating element or of the manipulation detection means and the manipulation operating element being evaluated at the control device side in order to derive a manipulation information which displays a monitoring by the operator and / or a readiness for manipulation, wherein the steering actuator and / or the longitudinal guidance actuator is only manipulated when the monitoring displays a readiness for manipulation. By means of such a manipulation detection means and / or a manipulation operating element it can be checked whether the monitoring is displayed to the operator and / or whether the operator is in a readiness for manipulation, that is to say, the operator can manually assume the guidance of the examination table in a quick reaction in case of doubt. Object-related, such a manipulation detection means and / or a manipulation operating element can be provided at the manipulation device of the examination table, in particular also adjacent to the manipulation device of the examination table, for example adjacent to a handle or a lever which the operator can grasp to manually move the examination table. The manipulation detection means can check, for example, whether the operator's hand is holding the manipulation device, for example, can be designed as a capacitive and / or inductive sensor. However, it is particularly preferred to use a manipulation operating element by means of which the operator has to actively indicate his monitoring movement and / or at the examination table and readiness for manipulation.

[0049] It is particularly object-related here that the manipulation operating element comprises a disable switch which can be actively placed in a manipulation position against a reset force. For example, the manipulation operating element can comprise a lever which is arranged adjacent to a handle and / or a lever as a manipulation device, which lever can be moved against a reset force towards the handle or the lever. Such a disable switch can also be referred to as "Dead Man Grip" (DMG).

[0050] In general, it should be noted with regard to the manipulation operating element that it can ultimately also be understood that the operator releases the autonomous movement of the examination table by means of the manipulation, or that the autonomous movement can also be stopped with the end of the manipulation. It is also conceivable that the manipulation operating element is not provided at the examination table, but at or as an additional operating device. In the case, the manipulation operating element optionally only displays the monitoring.

[0051] The "support level 3" (or "autonomy level 3") can be associated with embodiments in which longitudinal guidance and lateral guidance are autonomously performed by means of a guidance intervention, and a manipulation readiness is displayed by means of a manipulation of operating elements, in particular of a disable switch. Here, an override control can also be implemented.

[0052] It is especially purposeful, especially in further autonomy, i.e. especially when the monitoring and / or the preparation of the manipulation of the operating personnel should no longer be required, but also in other general cases, for the docking system, in particular the inspection station, to have an emergency shutdown switch, wherein the control device ends the support operating mode upon manipulation of the emergency shutdown switch. Here, the movement of the inspection station is especially ended with the end of the support operating mode, in other words, the inspection station is aborted. The emergency shutdown switch can be used for a manual intervention, i.e. an emergency stop, in an emergency.

[0053] The "support level 4" (or "autonomy level 4") can be associated with embodiments in which longitudinal guidance and lateral guidance are autonomously performed by means of a guidance intervention and an emergency shutdown switch is provided.

[0054] As already mentioned, different autonomy levels of the inspection station when supporting the operating personnel are conceivable. It has proven to be particularly purposeful to only take and implement guidance measures related to the lateral guidance, so that the longitudinal guidance is also completely entrusted to the operating personnel manually. In this design, the operating personnel also has to push the inspection station by himself. By the operating personnel being responsible for the longitudinal guidance himself, the operating personnel assumes a larger share of the overall responsibility. In particular, the speed of the inspection station is also determined by the operating personnel. However, due to the independent steering, the inspection station can be precisely maneuvered to the docking position. Thus, the operation can be carried out by only one employee, in particular.

[0055] Therefore in summary, in an overview, different support levels or autonomy levels in the support operating mode are possible. In a simple design, only the situation detection is carried out, and options are taken and suggested, in particular by means of a guidance indication. A further design is as follows: in which the lateral guidance is automatically received by means of a steering actuator by the control device and the corresponding guidance measures, but the longitudinal guidance remains with the operating personnel, wherein the operating personnel can override the control by counteracting (support level 2).

[0056] Further autonomy is achieved in that the guiding measure, which is not only longitudinally but also laterally guided via the corresponding actuators of the examination table, is automatically implemented, but the operator monitors the movement and / or remains ready to maneuver, in particular at the examination table itself, and this is preferably indicated by operating a run element, in particular a disable switch (support level 3). Thus, the operator monitors the movement of the examination table and can stop it, for example, by releasing the operating run element or, alternatively, in embodiments, by taking over the movement himself by counteracting action. In this design, 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 in a limited manner and / or there is no anti-collision system.

[0057] Finally, a design is also conceivable in which the operator no longer has to monitor the movement and release the movement by operating a run element, in particular a disable switch. Thus, the operator can concentrate on other tasks. Here, the sensor system and the actuators, in particular at least one steering actuator and at least one longitudinal guidance actuator, should be designed safely, in particular to meet at least one safety standard, for example by means of a redundant design, plausibility check, etc. Thus, collisions, etc. can be avoided. For emergency situations, a destination-compliant emergency stop switch is then provided at the examination table for a manual emergency stop (support level 4).

[0058] In a preferred design, it can be provided that, when the steering intervention and / or the longitudinal guidance intervention is sought, the control device is designed to take into account at least one comfort boundary condition relating to the comfort of a patient supported on the examination couch. That is to say, for example, the intensity of the automatically executable intervention can be limited in order to ensure a movement of the examination table that is as comfortable as possible for the patient. In the case of longitudinal guidance, the acceleration values and / or speed values of the longitudinal guidance intervention can be particularly destination-compliantly limited by means of the comfort boundary condition, while in the case of the steering intervention, the preferred design provides that the comfort boundary condition comprises a maximum permissible turning radius. In particular when the speed is controlled by the control device, the comfort boundary condition can also comprise a maximum permissible angular acceleration. In this way, sudden movements in the docking process for preparing the docking can be avoided, for example, so that the patient is comfortably driven to the medical-technical device. A comfortable driving speed and a comfortable turning guidance for the patient can be achieved.

[0059] It can be provided in relation to the sensor system that at least some of the sensors of the sensor system are arranged at the examination table. For example, an environmental sensor of the sensor system for detecting the environment of the examination table can be arranged at or behind the outer cover of the examination table towards the environment. A position sensor of the examination table, for example a position determination system, for determining the position can also be arranged inside the examination table. It is particularly preferred that all sensors of the sensor system can be arranged at the examination table. If the control device is also positioned completely in the examination table, all components necessary for implementing the method according to the application can be arranged in the examination table. However, it can also be purposeful to use external sensor devices, in particular for environmental detection, since, for example, an environmental sensor of the sensor system arranged at the ceiling of a room in which the medical-technical device is arranged and / or at the medical-technical device can have a better overview or a more suitable detection range.

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

[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 ultrasound sensor.

[0063] Such sensors are generally used in applications in which objects, here the examination table, are to be moved automatically. Thus, for example, it can be provided that a camera-based positioning and / or environmental monitoring is used, wherein, in addition or alternatively, in particular also in the case of static and / or dynamic objects and / or in the case of collision avoidance, a distance sensor, for example a radar sensor and / or an ultrasound sensor, is useful.

[0064] As already mentioned, it can be particularly purposeful to apply the application if the medical-technical device is a magnetic resonance device. In said context, the following particularly purposeful design is feasible in relation to determining position information of the examination table: it makes use of a magnetic field present outside the patient accommodation of the magnetic resonance device, which can be understood as the stray field of the magnetic resonance device. In particular, it can then be provided that the sensor system comprises 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 a magnetic field map of the stray field of the magnetic resonance device in its environment in order to derive the position information. Purposefully, a plurality of magnetic field sensors can be used here in order to increase the accuracy of the positioning of the examination table and to eliminate ambiguities.

[0065] Generally and in general terms, within the scope of the application, as functional components of the examination table at least one lateral 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 examination table can be used.

[0066] In addition to the method, the application 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, which has at least one functional component and can be connected to a medical-technical device to which the docking device belongs when the examination table is docked on the docking device, wherein the control device is designed to carry out the method according to the application. All embodiments of the method according to the application can be transferred analogously to the docking system according to the application, so that the advantages already mentioned can likewise be achieved by means of the docking system.

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

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

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

[0070] - a transformation unit for monitoring whether a transformation condition is fulfilled and for switching into a support operating mode in the event of the transformation condition being fulfilled, the transformation condition indicating the presence of a transition situation and the examination table being operated purely manually by an operator,

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

[0072] - a control unit for implementing the guiding measure by controlling the functional components of the examination table in order to support the operator.

[0073] Generally it can be said that the control device can comprise at least one processor and at least one storage mechanism. The above-mentioned functional units and other functional units can be realized by hardware and / or software.

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

[0075] Further advantages and details of the application result from the embodiments described hereinafter and from the drawings. Shown here is:

[0076] Figure 1 a view of a docking system according to the application,

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

[0078] Figure 3 a diagram for illustrating a motion planning,

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

[0080] Figure 5 a view of a dedicated output mechanism for satisfying a boundary condition,

[0081] Figure 6 a view of a handling area of an inspection station in a first embodiment,

[0082] Figure 7 a view of a handling area of an inspection station in a third embodiment,

[0083] Figure 8 a view of a handling area of an inspection station in a fourth embodiment,

[0084] Figure 9 a flow chart of one embodiment of the method according to the application, and

[0085] Figure 10 a functional principle diagram of a control device of a docking system. DETAILED DESCRIPTION

[0086] Figure 1An exemplary perspective view showing components of a docking system 1 according to the application. The medical-technical device 2 is currently embodied as a magnetic resonance device 3 having a patient accommodation 4 in the form of a column. Furthermore, a docking device 5 is provided, which currently has a lower docking mechanism 6 and an upper retraction apparatus 7 for retracting an examination bed 8 into a guide 9 inside the patient accommodation 4, so that a patient supported on the examination bed 8 can be positioned within the patient accommodation 4 for imaging.

[0087] The examination stand 10 of the docking system 1 currently has a carrier device 11 on which the examination bed 8 is movably supported in the longitudinal direction of the examination bed 8 by means of not shown, examination-stand-side guide devices. The carrier device 11 has a chassis 12 with wheels 13 and a manipulation device 14, for example a handle and / or a grip bar, so that the examination stand 10 can be moved manually by an operator. The manual movability in the normal operating mode can be supported by an execution device which can be controlled by means of an operating element at the manipulation device 14. Furthermore, the examination stand 10 can be supported in the positioning in a temporary support operating mode with different degrees of support for the operator when reaching a transfer area on the way to the docking device 5, in particular to an optimal docking position.

[0088] To illustrate this more precisely, Figure 2 A purely schematic plan view of a first variant of a room 15a in which the medical-technical device 2 is arranged is shown. The examination stand 10 has also been placed in the room 15a. The docking position 16, which comprises a docking place and a docking orientation, is indicated schematically in front of the docking device 5, which is ideal for docking. Furthermore, the docking mechanism 6 has a receptacle for the front region of the chassis 12 in this case and establishes a docking connection between the examination stand 10 and the docking device 5 when docking. Thus, for example, the examination stand 10 can be locked in its docked position.

[0089] To support the operator in establishing the docking position 16 as precisely as possible here, a transfer area 17 is defined and also marked on the floor of the room 15a. The orientation of the transfer area 17 has been determined such that, independently of the orientation of the examination stand 10 when entering into the transfer area 17, a movement into the docking position 16 can be made with satisfaction of the comfort boundary conditions.

[0090] For providing support, the examination table 10 has a control device 18 in order to derive guidance measures in the support operating mode in order to move the examination table 10 at least partially autonomously into the docking position 16 or to support the operating personnel there. Different functional components 19 of the examination table 10 are operated in accordance with the guidance measures, which currently comprise a steering actuator 20, a longitudinal guidance actuator 21, currently a drive actuator and a brake actuator, and partially an output mechanism 22 of the examination table 10. Currently, the examination table 10 also comprises a status light source as a further output mechanism 23 which laterally extends at the examination table 10 and which is operated by the control device 18 in order to output an activation indication when switching into the support operating mode, for example in order 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 a low support degree, in particular support degrees 1 and 2, for which the following is also discussed in particular.

[0091] In order to be able to determine whether a changeover condition is fulfilled and whether a changeover from the normal operating mode into the support operating mode should take place, a sensor system is also provided here as part of the docking system 1, which in the present embodiment has sensors outside the examination table 10, currently a camera 24, in particular a 3D camera, and sensors as part of the examination table 10, currently a distance sensor 25, in particular an ultrasound sensor and / or a radar sensor, and a magnetic field sensor 26, currently a Hall sensor. Furthermore, as part of the sensor system, the examination table 10 itself currently has a camera 27 which is aligned to the front region of the examination table 10. It is also conceivable for embodiments in which only the sensors of the examination table 10 are utilized as part of the sensor system.

[0092] The magnetic field sensor 26 finally measures the stray field of the magnetic resonance apparatus 3 which is present at the location of the magnetic field sensor. Thereby, in particular position information about the position of the examination table 10 relative to the docking apparatus 5 can be reliably derived from the magnetic field map of the stray field when using multiple magnetic field sensors 26 and / or also determining the direction of the local stray field. This can be plausibility verified by means of sensor data of other sensors of the sensor system which describe the relative position.

[0093] The control device 18 derives position information from the sensors of the sensor system from which it can be determined, as part of the transformation condition, whether the examination table 10 is in the transfer area 17 and whether the examination table 10 is moving towards the docking device 5. Thus, a spatially defined transformation situation is involved here. As part of the transformation condition, it is also checked whether a purely manual operation, i.e. a normal operating mode, is still present at the moment. If the transformation condition is fulfilled, a support operating mode is transformed to and displayed by means of the output means 23 (status light source) as described. Thus, the operating personnel is informed that the support operating mode is now active.

[0094] In other specific embodiments, the transformation condition can check whether a temporally defined transformation situation is present, for example whether the above-mentioned workflow steps are completed.

[0095] In the support operating mode, the control device 18 calculates, in a first group of specific embodiments, a movement trajectory 28 to the docking position 16 as a basis for ascertaining a guidance measure, as indicated in Figure 3 The movement trajectory 28, and thus also the resulting guidance measure, is determined such that the above-mentioned comfort boundary conditions for the patient, in particular with regard to the turning characteristics, are met. For example, a maximum permissible turning radius and / or a maximum permissible angular velocity can be defined; furthermore, also limits on acceleration and / or velocity can be defined when longitudinally guiding.

[0096] In ascertaining the movement trajectory 28, the control device 18 also takes into account static and / or dynamic objects in the movement area that are detected by the sensors of the sensor system. Alternatively or additionally, the docking system 1 can also comprise a collision avoidance system. An object that is determined as a potential collision can be highlighted on the image of one of the cameras 24, 27 with one of the output means of the operating personnel, so that, for example, the operating personnel can remove the object.

[0097] Figure 4 A purely schematic top view of a second variant of the room 15b is shown. For the sake of overview, the components of the examination table 10 and also the camera 24 are not shown here, since there is no change in this respect.

[0098] Unlike in Figure 2 In the room 15b, the transfer area is not marked on the floor, however, this can optionally still be done if a corresponding spatial transformation situation is used. Instead, a trajectory line 29 is currently used as an environmental feature that describes a suitable movement trajectory to the docking position 16, which is applied to the floor in the form of a guide line. The trajectory line 29 can also be detected, inter alia, by means of the camera 27 of the alignment front area of the examination table 10.

[0099] In a variant of the room 15b, the trajectory 29 is preferably utilized in terms of the changeover condition and / or as a support basis. In terms of the changeover condition, the detectability of the trajectory 29 and / or a spacing from the trajectory which is below a maximum spacing can be checked as a current changeover situation by the control device 18. The control device 18 can also evaluate sensor data of the sensor system with respect to the relative position of the inspection station 10 with respect to the described movement trajectory, in particular alternatively or additionally with respect to the relative position with respect to the docking station 5.

[0100] On the basis thereof, in the room 15b or in other design variants which utilize environmental features which describe a suitable movement trajectory, support and thus the derivation of guidance measures can be related to the utilization of the described movement trajectory, i.e. here the driving along the trajectory 29.

[0101] The control device 18 can also be designed to check, in the context of the changeover condition, whether at least one boundary condition for the changeover into the support mode is fulfilled. If the boundary condition is not fulfilled, this can be displayed to the operator in advance by means of the output means 22 of the inspection station 10, in particular a dedicated output means 22. In particular, the boundary condition can check whether the speed of the inspection station 10 is below a threshold value. Namely, in the case of too high a speed, optionally no useful support can be possible.

[0102] Figure 5 A dedicated output means 22 which is provided in this case, for example, in the region of the control device 14, is shown in the form of a scale 30 which consists of backlightable colored light sources, in particular LEDs. The two uppermost light sources 31 which are shown in hatching are red and display a too high speed. In the case of a lower speed, yellow and green light sources 31 follow. Of course, other design variants are also conceivable, for example a text output, a single light source which can emit green, yellow or red light, and even an acoustic output means 22.

[0103] The support in the support mode and also the degree of automation by the control device 18 differs depending on the specific embodiment, so that also differences in the specific design variant of the inspection station 10 can arise. The specific embodiments for different degrees of support which are set out below are here independent of how exactly the changeover condition and the guidance measures are designed, whether with respect to the docking position 16 or with respect to the movement along the described movement trajectory by the trajectory 29.

[0104] In a first specific embodiment which can be associated with a support level 1, the guiding measure involves the manipulation of the output means 22 to output a guiding indication to the operating personnel without a steering intervention and / or a longitudinal guiding intervention. The operating personnel is merely responsible for the movement of the examination table and only receives a guiding indication which can for example relate to the lateral guiding (e.g. whether and to what extent a manual steering to the left and / or to the right should be performed).

[0105] To this end, Figure 6 A possible design of the manipulation area of the examination table 10 with the manipulation means 14, here a handlebar, is shown. It can be seen that a guiding indication relating to the lateral guiding can be output in the form of an arrow 32 onto the optical output means 22. A guiding indication in terms of steering direction can also be provided by means of the haptic output means 22 in the manipulation means 14, wherein the right haptic output means 22 can currently be vibrated. In Figure 6 An acoustic output means 22 indicated in the upper left corner is also conceivable. The guiding instructions can here relate to the lateral guiding only, so that the longitudinal guiding, i.e. in particular the speed of the examination table 10, can be completely left to the operating personnel. However, it is also conceivable in an embodiment that guiding instructions relating to the longitudinal guiding are also output, for example acoustically in the manner of a parking assistance system.

[0106] It is also conceivable that output means (not shown) are used alternatively or additionally at the medical technology apparatus 2, for example above or next to the patient accommodation 4 in the case of a magnetic resonance apparatus 3. In particular, one optical output means can be provided on the left and one on the right in order to display to which direction a steering should be performed. The output means which are present anyway can be used here.

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

[0108] It should be noted that the design of outputting guiding instructions in the described manner as a guiding measure can also be used in the case of an at least partially autonomous guiding in a support mode, for example in the case of an emergency and / or poor / no sensor data.

[0109] In a second specific embodiment (support level 2), the current lateral guidance is automated, which means that the examination table 10 is moved automatically at least with regard to the lateral guidance. This is achieved by actuating the steering actuator 20. However, here the automatic movement should be continuously monitored by the operator. By taking over only the lateral guidance, the operator also has to manually push the examination table 10 so that the monitoring activity has to be carried out in order to actually cause an effective movement. Here, the operator has the possibility to override, i.e. counter-steer, in order to interrupt the guidance intervention.

[0110] In a third specific design (support level 3), not only the lateral guidance is achieved by a guidance intervention, but also the longitudinal guidance. For this purpose, the control device 18 determines a longitudinal guidance intervention and correspondingly actuates the longitudinal guidance actuator 21. In order to ensure that the operator is prepared for the actuation in the third specific design in which the longitudinal guidance is also taken over automatically by the control device 18 and the corresponding guidance measures, the actuation area is schematically shown in Figure 7 Two options are schematically shown in the middle. Thus, on the one hand, it can be proposed that an actuation detection mechanism 33, for example a capacitive and / or inductive sensor which detects the hand of the operator, is provided in the actuation device 14, i.e. the actuation detection mechanism 33 provides actuation data which show the presence of a hand.

[0111] However, it is preferred that an actuation operating element 34 is provided at the actuation device 14, here a disable switch 35 which can be moved into an actuation position against a return force. In the shown example, the disable switch 35 can easily be operated together when the actuation device 14, which is designed as a handle lever, is grasped by the operator in order to show the monitoring and actuation readiness and to release the autonomous movement. If the operation of the disable switch 35 is ended, any movement is also stopped. Thus, the disable switch 35 or generally the actuation operating element 34 can also be arranged externally with respect to the examination table 10, for example as an additional operating device or in an additional operating device, if the actuation readiness is less important.

[0112] However, the advantage of the arrangement at the examination table 10 and thus the direct establishment of the actuation readiness is that here, too, the possibility exists that the operator overrides individual guidance measures or a set of guidance measures. If the operator's action of intervention in the guidance measure is determined at the control device 18 side which exceeds a threshold value in terms of its strength, the guidance measure is interrupted here, as in the second specific embodiment. Thus, the operator can actively intervene.

[0113] In the fourth embodiment (support level 4), the longitudinal and lateral guidance is again fully automated. However, it is not mandatory to monitor or prepare the maneuver by an operator, since the sensor system, the control device 18 and the execution device are designed sufficiently safely, in particular to meet at least one safety standard. In this case, the inspection bench 10 drives in particular purposefully and gently into the docking position 16 on the movement trajectory 27 or the trajectory line 29, while the operator can concentrate on other tasks. However, as shown in Figure 8

[0114] Figure 9 A general flowchart of the method according to the application is shown for further illustration. Here, in step S1, position information is derived from the sensor data of the sensors of the sensor system, in particular from the camera 24, the distance sensor 25 and the magnetic field sensor 26, which shows the current position of the inspection bench 10.

[0115] The position information in the movement direction is also used over time in step S2 in order to evaluate the fulfillment of the changeover condition. If the changeover condition is fulfilled, step S3 is continued, in which a changeover from the normal operating mode into the support operating mode takes place, and an activation indication is given to the operator, in particular by means of the output mechanism 23 outputting the activation indication. During the entire duration of the support operating mode, the output mechanism 23 preferably emits green light.

[0116] Subsequently in step S4, the currently to be executed guidance measures, in particular according to a group, are derived by the control device 18, which are to be derived on the basis of the sensor data, either by deriving the movement trajectory 28 or by deriving the relative position of the trajectory line 29, in particular taking into account static and / or dynamic objects, as previously described. Of course, the current position information is again relevant. As described above (support level 1, 2, 3 or 4), the embodiment results in precisely determining which guidance measures.

[0117] Subsequently in step S5, the functional components 19 are manipulated according to the guidance measures.

[0118] Subsequently in step S6, it is checked whether the docking position 16 has been reached. If this is not the case, a return is made in the next time step to step S4, in which the guidance measures are updated on the basis of the current sensor data.

[0119] ​If, however, the docking position is reached, the switch back to the normal operating mode and, if appropriate, also the docking or transfer after the examination couch 8 is checked in step S7, and in particular also the end of the support operating mode is displayed. Of course, a completion indication is also output purposefully by means of the output means 22, 23, which shows the reaching of the docking position 16. Furthermore, a signal can also be provided to the docking device 5 in step S7, which can continue the docking, i.e. in particular can establish the docking connection and retract the examination couch 8, directly automatically. However, this can also be triggered via the operating element.

[0120] The different steps can be implemented in the control device 18 by means of functional units. To this end, Figure 10 A schematic diagram showing the principle of a possible functional configuration of the control device 18 is shown. In addition to the storage means 37, the control device 18 firstly has an evaluation unit 38 in order to evaluate the sensor data of the sensor system for the purpose of ascertaining the position information, see step S1. The evaluation unit 38 can also be used again in steps S4 and S6.

[0121] Furthermore, the control device 18 has a transformation unit 39 in order to monitor the transformation condition and to carry out the transformation when the transformation condition according to step S2 is fulfilled. The transformation unit 39 can also control the switch back to the normal operating mode.

[0122] In a measure ascertainment unit 40, the guiding measures are ascertained according to step S4, which can subsequently be implemented by means of the actuating functional components 19 in the actuating unit 41 correspondingly.

[0123] Of course, further functional units can also be provided in order to carry out further steps in the embodiment, or the functional units can take over further tasks. Thus, the transformation unit 39 or the actuating unit 41 can also be configured to actuate the output means 22, 23 in order to output the activation indication and / or the completion indication.

[0124] Although the details of the application are explained and described in detail by means of a preferred embodiment, the application is not restricted to the disclosed example and can be derived by the person skilled in the art from this without departing from the scope of protection of the application.

[0125] Regardless of the grammatical gender of the specific terms, both people with a male and a 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 technology device (2) to which the docking device (5) belongs by docking the examination table (10) onto the docking device (5), wherein a docking position (16) required for docking the examination table (10) is established, and - Sensor data is recorded using the sensor system of the docking system (1) and evaluated using the control device (18) to obtain positional information describing the position of the inspection table (10), wherein the sensor data at least describes the position of the inspection table (10) relative to the docking system (1) and / or relative to environmental features describing the motion trajectory to the docking system (1). - When the transformation conditions are met, the control device (18) switches to the support operation mode of the docking system (1). The transformation conditions indicate that there is a transformation situation and the inspection table (10) is operated purely manually by the operator. - In the supported operating mode, the control device (18) determines at least one guidance measure for the inspection table (10) by evaluating the sensor data to establish the docking position (16), and implements the at least one guidance measure by manipulating the functional components (19) of the inspection table (10) to support the operator, wherein the at least one guidance measure involves steering intervention and / or longitudinal guidance intervention. - Wherein, when determining steering intervention and / or longitudinal guidance intervention, the control device (18) is configured to take into account at least one comfort boundary condition related to the comfort of the patient supported on the examination table (8). Its features are, The transition scenario is determined based on location information and / or the completion of previous workflow steps, the location information indicating the position of the inspection station (10) within a transfer area (17) defined relative to the docking position (16). The transfer area provides a defined transfer location to support operation.

2. The method according to claim 1, characterized in that, The transformation condition additionally checks whether at least one boundary condition is met, the transformation condition including the current speed of the check station (10) being lower than a speed threshold.

3. The method according to claim 2, characterized in that, At least temporarily, the operator is required to optically and / or acoustically display at least one boundary condition for which the additional check is not currently met.

4. The method according to claim 1 or 2, characterized in that, The environmental features include trajectory lines (29) displayed on the floor and / or ceiling of the room (15a, 15b) where the medical technology device (2) is installed.

5. The method according to claim 1 or 2, characterized in that, By means of at least one output mechanism (22, 23) to provide optical and / or acoustic and / or tactile indication output, the operator is shown whether to switch to or out of the supported operating mode.

6. The method according to claim 5, characterized in that, Use at least one state light source as an output mechanism (22, 23).

7. The method according to claim 1 or 2, characterized in that, The at least one guidance measure is to output guidance instructions to the operator, wherein an optical and / or acoustic and / or tactile output mechanism (22) is used as a functional component (19).

8. The method according to claim 1 or 2, characterized in that, When the guidance measures describe a steering intervention, at least one steering actuator (20) of the inspection table (10) is manipulated as a functional component (19) to at least partially realize the steering intervention, and / or when the guidance measures describe a longitudinal guidance intervention, at least one longitudinal guidance actuator (21) of the inspection table (10) is manipulated as a functional component (19) to at least partially realize the longitudinal guidance intervention.

9. The method according to claim 8, characterized in that, The guidance measures shall be interrupted if the operator’s actions are contrary to guidance measures involving steering intervention and / or longitudinal guidance intervention.

10. The method according to claim 8, characterized in that, A manipulation detection mechanism (29) and / or a manipulation operating element (30) are provided at or separately from the inspection table (10). The manipulation data of the manipulation detection mechanism (29) or the manipulation operating element (30) or the manipulation detection mechanism (29) and the manipulation operating element (30) are evaluated on the side of the control device (18) to obtain manipulation information for display by the operator for monitoring and / or preparation of manipulation, wherein the steering actuator (20) and / or the longitudinal guide actuator (21) are manipulated only when monitoring and / or preparation of manipulation are displayed.

11. The method according to claim 10, characterized in that, The operating element (30) includes a disabling switch (31) that can actively resist a reset force to be placed in an operating position.

12. The method according to claim 1 or 2, characterized in that, The docking system (1) has an emergency shut-off switch (32), wherein when the emergency shut-off switch (32) is operated, the control device (18) terminates the support operation mode.

13. The method according to claim 1 or 2, characterized in that, Seek only guidance measures related to lateral guidance and implement them.

14. The method according to claim 1 or 2, characterized in that, The comfort boundary conditions include the maximum permissible turning radius.

15. The method according to claim 1 or 2, characterized in that, The medical technology device (2) is a magnetic resonance imaging device (3).

16. The method according to claim 15, characterized in that, The sensor system includes at least one magnetic field sensor (26) of the inspection table (10), wherein sensor data of the magnetic field sensor (26) is matched with a magnetic field map of stray fields in the environment of the magnetic resonance device (3) to obtain the position information.

17. The method according to claim 1, wherein the docking position (16) required for docking of the inspection table (10) is at least partially autonomously established.

18. The method according to claim 3, characterized in that, At least temporarily, in the room (15a, 15b) where the medical technology device (2) is installed, at least one boundary condition that is not currently met for additional inspection is optically and / or acoustically displayed to the operator.

19. The method according to claim 6, characterized in that, The status light source extends elongated along at least one side of the inspection table (10).

20. The method according to claim 8, characterized in that, At the operator's control device (14), or separately from the inspection table (10), a control detection mechanism (29) and / or a control operation element (30) are provided to evaluate the control data of the control detection mechanism (29) or the control operation element (30) or the control detection mechanism (29) and the control operation element (30) to obtain control information for display by the operator for monitoring and / or preparation of control, wherein the steering actuator (20) and / or the longitudinal guide actuator (21) are operated only when monitoring and / or preparation of control is displayed.

21. The method according to claim 1 or 2, characterized in that, The inspection station (10) has an emergency shut-off switch (32), wherein when the emergency shut-off switch (32) is operated, the control device (18) terminates the support operation mode.

22. The method according to claim 16, characterized in that, The magnetic field sensor (26) is a Hall sensor.

23. A docking system (1) comprising a docking device (5) for an examination table (10), a control device (18), a sensor system and the examination table (10), the examination table (10) having at least one functional component (19) and docking with the docking device (5) via the examination table (10), the examination table (10) being connectable to a medical technology device (2) to which the docking device belongs, wherein the control device (18) is configured to perform the method according to any one of claims 1 to 22.

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