User-guided semi-automatic navigation of mobile medical devices

Abstract

Embodiments of the invention relate to user-guided semi-automatic navigation of mobile medical devices. The mobile medical device is movable on the ground within the building by means of a movement mechanism. A driving movement of the device can be caused or at least assisted by means of at least one drive. The driving direction can be changed by means of the direction influencing device. The driving device and the direction influencing device can be controlled by the control device. The control device knows the terminal station and the path to the terminal station as well as the current position of the device. The control device receives a driving request from an operator and ascertains at least one approximate target direction of the driving movement in the event of evaluation. The control device actuates the drive device as long as a travel request is received. The control device also actuates the direction influencing device such that the device moves on one of the paths when the control device receives the travel request and the current position of the device is at least substantially located on the path. The control device continuously updates the current position of the device during the driving movement.

Description

Technical Field

[0001] The invention relates to an operating method for a mobile medical device, the mobile medical device having a movement mechanism, by means of which the device can be moved on the floor in a building, having at least one drive device, by means of which the travel movement of the device can be caused or at least assisted, and having a control device, by which the drive device can be controlled.

[0002] - wherein the control device receives a travel request from an operator,

[0003] - wherein the control device determines, when evaluating the driving request, at least an approximate target direction of the driving movement,

[0004] - wherein the control device activates the drive only upon receipt of a driving request.

[0005] The present invention also relates to a control program for a control device of a mobile medical device, which has a moving mechanism, by means of which the device can be moved on the ground in a building, and at least one drive device, by means of which the driving movement of the device can be caused or at least assisted, wherein the control program includes a machine code that can be processed by the control device, wherein the processing of the machine code by the control device causes the control device to execute this operating method.

[0006] The present invention also relates to a control device for a mobile medical device, which has a moving mechanism, by means of which the device can be moved on the ground in a building, and at least one drive device, by means of which the driving movement of the device can be caused or at least assisted, wherein the control device is programmed with such a control program so that the control device executes such an operating method.

[0007] The present invention also relates to a mobile medical device,

[0008] - wherein the device has a movement mechanism by means of which the device can be moved on the floor inside the building,

[0009] - the device has at least one drive device, by means of which a travel movement of the device can be brought about or at least assisted,

[0010] - the device comprises a control device, by which the drive device can be controlled,

[0011] wherein the control device is designed as such a control device. Background Art

[0012] This operating method can be realized, for example, by a mobile head CT scanner. A patient couch, such as that used in a magnetic resonance apparatus, can also realize this operating method. The above-mentioned contents can also be realized by the above-mentioned mobile head CT scanner and the above-mentioned patient couch.

[0013] In the prior art, mobile medical devices are moved manually by operators between different diagnostic and treatment stations. If large devices are involved, these are usually so large and heavy that motor assistance is required for the movement. Nevertheless, sometimes even this makes the operation difficult for the operator. This is particularly true when the operator is relatively inexperienced. In particular, in hospital corridors or narrow passages (such as doors), normal navigation poses a great challenge for the operator. The same also applies when, for example, corridors have corners.

[0014] In logistics environments, for example in factories, industrial warehouses and logistics centers, autonomously guided mobile devices are used. These devices move fully automatically along correspondingly programmed paths.

[0015] In a medical environment, such autonomous automatic navigation of mobile medical devices can only be realized with difficulty. Firstly, the environment is very confined. In addition, the environment is often visited irregularly by patients and other personnel. Patients may be frightened by such an automatically moving system. In addition, the technical and standardization work for the functionally safe operation of fully automatically moving medical devices (especially in the sense of ISO 14791) is associated with unreasonably high costs and restrictions. Summary of the invention

[0016] The object of the present invention is to achieve the possibility of achieving operating comfort and above all reliability when moving a medical device without having to accept the complexity and disadvantages of a completely autonomous movement system.

[0017] This object is achieved by an operating method having the features of claim 1. Advantageous embodiments of the operating method are the subject matter of dependent claims 2 to 15.

[0018] According to the present invention, it is first necessary that the mobile medical device additionally has a direction influencing device, by means of which the travel direction of the travel movement can be changed, and the direction influencing device can also be controlled by the control device. In addition, the operating method of the type mentioned at the beginning is configured in the following manner:

[0019] - the number of terminals and the paths leading to them are known to the control device,

[0020] - the current position of the device is known to the control device,

[0021] - when the control device receives a travel request and the current position of the device is at least approximately on one of the paths, the control device controls the direction-influencing device in addition to the drive device so that the device moves on the relevant path, and

[0022] During the driving motion, the control unit continuously updates the current position of the device.

[0023] On the one hand, it is therefore easier to maintain the responsibility of the operator. This is because the control device only controls the drive device when it receives a travel request (supplement: from the operator). Without a travel request, the mobile medical device is moved (at least not by the control device). The control device can then know the path that the device is to move due to the travel request and this path can therefore be followed by the control device. The operator is therefore relieved of the precise control (navigation) of the device and only has to intervene in practice if a simple movement along the path is not desired (for example because someone is parked there).

[0024] The medical device can be, for example, a diagnostic or therapeutic device, but can also be a patient couch or a hospital bed or the like.

[0025] The drive and the steering device can be configured exactly as required. In the simplest case, the drive acts on an axle with one or two wheels, and the steering device is designed as a conventional steering device. However, other configurations are also possible, for example as a so-called Mecanum kinematics. A plurality of wheels can also be steered and driven individually, so that, depending on the position and drive of the wheels, for example, straight-line driving, driving around bends and also rotation in place can be achieved.

[0026] The travel request can be predefined in almost any way. The simplest is to use a displacement button on the handle of the device. It is also possible to use a force handle, i.e. a handle that can detect the force applied to the handle by the operator. A forward force predefined the "forward" travel direction starting from the current orientation, and a backward force predefined the "backward" travel direction. However, it is decisive that the travel request is not only predefined once, but also maintained. Therefore, as long as there is a travel request, the drive device is controlled by the control device, and the predefined travel request is the same as the actuation button in terms of its functionality.

[0027] In some cases, the pre-determination of a driving request can only result in the pre-determination of an approximate target direction, because, similar to a motor vehicle, the driving request determines that the mobile medical device should move forward (if necessary forward or backward depending on the driving request), but the exact driving direction (and its changes) is only determined by the operator during the driving movement through steering and control.

[0028] Generally speaking, the number of terminals is greater than 1, in which case the routes generally run from terminal to terminal. The ensemble of terminals and associated routes is sometimes referred to below as a map of the building.

[0029] The way in which the control device knows the current position of the device can also be as needed. For example, the device can be positioned at a defined position with a defined orientation from time to time (such as once a day or at the beginning of a work shift), wherein the control device knows this position and this orientation so that this position and this orientation can be used as reference values. In the following, the orientation can then be updated by analyzing and evaluating the signal of the acceleration sensor and the position can be updated in combination with the corresponding orientation by the rolling movement of at least one wheel of the (driven or undriven) mobile mechanism. Other possibilities are also given. For example, a camera can be installed in a building, which permanently or at least occasionally detects the mobile medical device, so that the position and orientation of the mobile medical device can be determined based on these detections. The detection itself or the position and orientation can then be transmitted to the control device.

[0030] In some cases, the device moves only on the path to the terminal. In this case, the current position of the device is at least approximately on one of the paths. In other cases, the device can also be located at a position that is not on one of the paths. In this case, the control device controls the drive device when a travel request is given to it, so that the travel movement is caused or at least assisted. In contrast, in this case, the direction control device is not controlled by the control device. However, the control device can activate the direction control device so that the medical device can be turned and rotated by the operator. However, as soon as the current position of the device reaches one of the paths, the (active) control of the direction influencing device is (at least usually) activated.

[0031] If the current position of the device is at least approximately on one of the paths, the direction influencing device is usually controlled by the control device in such a way that the device remains on the corresponding path. This applies regardless of whether the corresponding path runs straight or has curves. Apart from remaining on the corresponding path, this only applies if the operator actively intervenes accordingly.

[0032] The expression "at least approximately on one of the paths" was chosen because, for example, if the device moves parallel to one of the paths at a small distance therefrom, a corrective intervention can be made to thereby influence the travel movement so that the device gradually and precisely enters the corresponding path.

[0033] The control device preferably evaluates the application of a force in the horizontal priority direction to the first force handle of the device with a force greater than the first minimum force as a travel request in the horizontal priority direction. This process is particularly intuitive for the operator, because the operator would also do so if there was no drive device.

[0034] The force handle is an element of the device, which is mechanically stable and mechanically connected to the rest of the device with sufficient stability on the one hand, and can identify the force effect at least along the horizontal priority direction. For example, the identification of the force effect can be detected quantitatively by a force measurement box. It can also be that the first force handle has a spring-loaded button, and its spring force defines a lower or even higher minimum force. According to the configuration of the force handle, it can be that only the force effect along the priority direction or additionally also opposite to the priority direction is identified. In the latter case, the control device can distinguish between the forward driving request and the backward driving request. Of course, the direction change can also be initiated by the operator. For example, the medical device can have a handle similar to that in a bicycle or motorcycle and a steering wheel similar to that in a passenger car. Other possibilities for presetting the direction change can also be given. However, the control device preferably evaluates the request for the direction change of the travel movement by acting on the first force handle with a force higher than the second minimum force along the horizontal lateral direction orthogonal to the horizontal priority direction, and controls the direction control device accordingly. Here, this presetting is also particularly intuitive. Because if the direction control device does not exist or is not controlled by the control device, the operator will also do so.

[0035] Within the scope of the invention, such a change of direction initiated by the operator can, for example, lead to the selection of a path for continuing the driving movement at a crossroads or fork in the road. The change of direction can also lead to leaving an existing path. The change of direction can also lead to the selection of whether to turn left or right on a path when encountering the path.

[0036] In an alternative embodiment, but similarly intuitive for the operator, it could be:

[0037] the control device evaluates as a travel request in the horizontal priority direction a first and a second force acting in the horizontal priority direction in the same manner on first and second force handles of the device which are horizontally spaced apart from each other as viewed orthogonally to the horizontal priority direction, with a first and a second force greater than a first minimum force, and

[0038] The control device acts differently on the first and second force handles in a horizontally preferred direction, wherein a first or second force exceeding a first minimum force is interpreted as a request for a change in direction of the travel movement and the direction influencing device is actuated accordingly.

[0039] Identical means identical in sign (i.e., both in the preferred direction or both against the preferred direction, but not once in the preferred direction and once against the preferred direction) and approximately identical in magnitude. The degree to which the magnitudes of two forces can be distinguished so as to still be considered substantially equal can be determined as desired.

[0040] The evaluation of different actions as a request to change the direction of the driving movement can be independent of whether the current position of the device is at least approximately on one of the paths. If the current position of the device is at least approximately on one of the paths, for example, a request to leave the corresponding path can be used. In the case of a fork or intersection, a request can be used as to which path of the fork or intersection should be used. When one of the paths is encountered, the side to which the path should be turned can be used.

[0041] To put it simply: If the operator pushes or pulls both power levers simultaneously, the drive is actuated according to a forward or reverse travel request. If the operator pushes or pulls only one of the two power levers, a change of direction is initiated in addition to forward or reverse movement. The same can also apply if the operator pushes one of the two power levers and pulls the other power lever.

[0042] If the device encounters the path at an (initially arbitrary) angle, the direction must change by exactly this angle in order to continue the travel movement on the path in one direction. In order to continue the travel movement on the same path in the opposite direction, the direction needs to change by 180° minus this angle. It is possible that the decision whether the travel movement should continue in one direction or the other is always predetermined by the operator. This predetermined value is in particular a force action, as already explained above.

[0043] However, preferably if the device encounters a path when moving at an angle that is at most as large as the acute angle limit angle, the control device autonomously determines in which direction the device is moving on the path. This process facilitates navigation.

[0044] Because if the angle is less than the acute angle limit angle, the direction must be changed by a maximum of the acute angle limit angle in order to continue the driving movement on the path in one direction, while the direction must be changed by at least 180° minus the acute angle limit angle in order to continue the driving movement on the same path in the opposite direction. Therefore, a (usually significantly) smaller change of direction is required for continuing the driving movement in one direction than for continuing the driving movement in the opposite direction. Therefore, this can be evaluated by the control device as follows: If the control device does not receive any contrary presettings from the operator, the control device itself decides in which direction the driving movement should be continued. Therefore, in this case, presettings by the operator can be omitted.

[0045] The closer the angle at which the device encounters the path is to 90°, the smaller the difference between turning in one direction or the other. In this case, the decision must be made elsewhere, for example by direct or indirect presetting by the operator. Therefore, the limit angle must be an acute angle. The acute limit angle can be, for example, 60° or 70° or 75°.

[0046] Preferably, in the case of a fork in the road, without a request to change direction, the control device autonomously selects the path associated with the smallest change of direction as the further path after the fork in the road. Thus, in many cases, the control device only needs to explicitly receive a request to change direction if there are two routes associated with the same or almost the same change of direction to the left and to the right or a path that is different from the one that should be traveled more or less straight.

[0047] In this context, the term "fork in the road" is to be understood broadly. The term is to include not only "real", more or less Y-shaped forks in the road, but also branches (one path continues straight, one path branches off), merges (two paths branch off to the left and right), intersections and also any other node from which at least three paths depart.

[0048] This behavior can be evaluated by the control device, for example, in such a way that the control device always moves in a straight line at intersections or branches or selects a path with minimal changes in direction if the speed of the driving movement is above a threshold value. If necessary, the speed limit can also be set in multiple stages for changes in direction of the driving movement depending on the speed of the driving movement. In this case, the changes in direction of the driving movement are limited to smaller values ​​at higher speeds.

[0049] It should be noted that limiting the change of direction of the driving movement does not mean that the change of direction of the driving movement always and unconditionally occurs. It should only mean that the possible changes of direction are limited in any case. The change of direction of the driving movement has the dimension of ° / s.

[0050] Preferably, the control device causes or assists the travel movement on the path under the consideration of the limit value of the time derivative of the position of the device on the path, wherein the limit value can vary along the corresponding path. Therefore, it is possible to assign limit values ​​determined (by magnitude or vector) for speed, acceleration and possible impact to different sections of the path. This limitation can be particularly meaningful when the corresponding path turns and / or the device is about to reach a crossroad or fork or is about to reach a terminal. For example, high speeds can be allowed on straight sections of the path without forks or crossroads, while the maximum permissible speed at bends, forks and crossroads can be limited to a value determined according to the relevant curvature radius.

[0051] Preferably, during the movement of the device, the control device continuously receives information about the surroundings of the device, analyzes and evaluates this information to determine whether there are obstacles on the path, autonomously plans a detour route in the case of obstacles, bypasses the obstacles with the help of this detour route, and the device moves on the detour route. In this way, the (almost) automatic operation of the mobile medical device can be maintained almost without restriction even in the case of unforeseen obstacles. The corresponding sensor can be, for example, the camera installed in the building mentioned above. The corresponding sensor can also be other sensors (camera, lidar, radar, etc.) arranged on the medical device and especially observe "forward" from the medical device. Both the sensor device and the evaluation of the signals detected by the sensor device are known.

[0052] In some cases, the control device can directly plan the detour route and the device can also move autonomously on the detour route (in addition to the travel request). In other cases, the control device asks the operator in advance for a start instruction for moving the device on the detour route. In other cases, the control device plans multiple detour routes (in this case, usually exactly two detour routes, namely one passing from the left side of the obstacle and one passing from the right side of the obstacle), and the operator directly or indirectly receives the selection of one or more detour routes. The presetting can be realized, for example, by the operator acting on the power handle in a similar manner to the presetting of the direction change. Of course, other processes for selecting a detour route are also possible.

[0053] Preferably, when a minimum distance to a destination is exceeded and when the vehicle is moving towards the destination, the control device adjusts the actuation of the direction-influencing device in order to move along the relevant route. In this case, the operator of the system is responsible for precise positioning at the approaching destination. Although the control device continues to cause the drive device to be actuated when a travel request is specified, the operator is still responsible for navigation.

[0054] Alternatively, when the minimum distance to the terminal is below and the travel movement towards the terminal is simultaneously being made, the control device will approach the relevant terminal on the corresponding path even if a travel request is no longer given to the control device. In this case, it may even be that the operator has left the device and accepted other tasks.

[0055] Whether and which of these two possibilities can be implemented depends on the circumstances of the specific case. In particular, the autonomous approach of the control device to the terminal should only be used when other dangers can be eliminated. The minimum distance can be, for example, between 1m and 5m, in particular between 1.5m and 3m.

[0056] The control device can preferably receive a request for a reversal of direction and in this case rotate the medical device in situ by 180° about a vertical axis. This procedure can have advantages if the reversal of direction is to be carried out on a certain path. In principle, however, a reversal of direction can also be achieved if the device is not located on one of the paths.

[0057] For example, the control device can be pre-set for reversing the direction by means of a (possibly additional) force handle or a special button. Rotation in place is only possible with certain direction-influencing devices. An example of such a direction-influencing device is the so-called Mecanum kinematics.

[0058] In some embodiments, it can be useful for the control device to receive a pre-determination of the terminal to be approached and, based on the current position of the device and the terminal to be approached, autonomously determine its known path from the current position to the terminal to be approached. This procedure has the advantage that the control device can decide independently at intersections and forks which path to take. In this case, the operator only has to specify the terminal and then pre-determine the travel request. This procedure can be useful in particular when there can be only a small number of terminals and the device has a corresponding user interface so that a corresponding pre-determination can be made.

[0059] The terminal and / or the path can be predefined as required. For example, the corresponding information can be loaded into the control device as a data set via a corresponding interface. The control device preferably receives the terminal and / or the path by self-learning in a learning operation.

[0060] The term "teach-in" is generally known to a person skilled in the art in control technology. Teach-in usually means that the relevant control device is switched into a learning mode and that the facts to be learned are predefined in the learning mode directly by manual actuation of the relevant device by the operator. In the specific case of a mobile medical device, for example, the device is moved to the relevant position in order to predetermine a destination and then the corresponding position is accepted as the destination, for example, by actuating a learn button. In a similar manner, the control device can be switched into a learning mode for learning a path and remain in the learning mode while the desired path is being traveled. For example, the learn button can remain permanently actuated for this purpose.

[0061] The control device preferably performs a smoothing of the path based on the path predefined by the self-learning. As a result, the control device can compensate for minor inaccuracies that easily occur within the scope of the self-learning.

[0062] Corresponding smoothing methods are generally known to those skilled in the art. For example, the shortest smoothed path can be determined, which deviates by a maximum of x centimeters from the path predefined directly at the start and follows certain predefined conditions with regard to its minimum radius of curvature.

[0063] The control device preferably stores the positions at which the device is parked, although these positions are not end points, but if the device is parked at such a corresponding position sufficiently frequently within a predetermined period of time, the control device also accepts such positions as end points in addition.

[0064] This process results in the control device being so-called self-learning even during continuous operation.

[0065] A limit for "frequent enough" can be determined as desired. The limit can be 5, 10, 15 or other values. A limit on the predetermined time period can be given or not given. If the limit is given, the predetermined time period can be, for example, one day, one week, one month or other suitable value.

[0066] The control device preferably stores the locations where the device is parked, although these locations are not terminal stations and the relevant routes to these locations are not known, but if the device accepts the relevant locations as additional terminal stations, the control device also accepts these routes as additional paths. As a result, the control device can also be so-called self-learning about the path in continuous operation.

[0067] Self-learning is also possible in the presence of additional obstacles. If, for example, due to manual control of the device by an operator, the defined path is repeatedly left in the same area and instead repeatedly moves into, for example, the same deviating route and then returns to the defined path again, this can be interpreted by the control device as a new, additional obstacle that must be circumvented in the future. In this case, the path changes, although the destination does not change.

[0068] Furthermore, it is almost certainly possible to activate or deactivate the operating mode according to the invention. In the case of deactivation, the movement assistance is still active, i.e. the drive device is actuated, but in this case the operator is responsible for the path guidance. The operator is also responsible for the path guidance if and as long as the mobile medical device is not on one of the paths or in the vicinity of the path. Finally, within the scope of unexpected situations, also within the scope of the operating mode according to the invention, it is always possible for the control device to terminate the movement along the corresponding path and continue to actuate the drive device and / or the direction influencing device only due to corresponding presettings by the operator.

[0069] This object is further achieved by a control program having the features of claim 16. According to the invention, the processing of the machine code causes the control device to execute the operating method according to the invention. It is assumed that the mobile medical device additionally has a direction influencing device, by means of which the travel direction of the travel movement can be changed, and the direction influencing device can be controlled by the control device.

[0070] This object is further achieved by a control device having the features of claim 17. According to the invention, the control device is programmed with the computer program according to the invention so that the control device carries out the operating method according to the invention during operation. It is also assumed here that the mobile medical device additionally has a direction influencing device, by means of which the travel direction of the travel movement can be changed, and that the direction influencing device can be controlled by the control device.

[0071] This object is further achieved by a mobile medical device having the features of claim 18. According to the invention, the device firstly has a direction influencing device, by means of which the travel direction of the travel movement can be changed, and the direction influencing device can also be controlled by the control device. Finally, the control device is designed as a control device according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The above-described characteristics, features and advantages of the present invention and the manner in which these characteristics, features and advantages are achieved will become clearer and easier to understand with the help of the following description of the embodiments described in detail in conjunction with the accompanying drawings. Herein, it is shown in a schematic diagram:

[0073] Figure 1 View of mobile medical equipment from the side.

[0074] Figure 2 Viewed from above Figure 1 Mobile medical devices,

[0075] Figure 3 Floor plan of the building with paths and terminals,

[0076] Figure 4 flow chart,

[0077] Figure 5 The force handle seen from the side,

[0078] Figure 6 Force handle viewed from above

[0079] Figure 7 Two force handles seen from above,

[0080] Figure 8 Pathways and parts of mobile medical equipment,

[0081] Fig. 9 Pathways and parts of mobile medical equipment,

[0082] Fig.10 flow chart,

[0083] Fig.11 Path map,

[0084] Fig.12 Path map,

[0085] Fig.13 flow chart,

[0086] Fig.14 Stereoscopic views of pathways, obstacles, and mobile medical equipment,

[0087] Fig.15 flow chart,

[0088] Fig.16 Flowchart, and

[0089] Fig.17 path. DETAILED DESCRIPTION

[0090] according to Figure 1 and Figure 2 , the mobile medical device 1 has a movement mechanism 2. By means of the movement mechanism 2, the device 1 can be moved on the ground 3. However, the present illustration with a total of four wheels 4 is purely exemplary. However, there are usually at least three wheels 4.

[0091] The device 1 also has a drive device 5. By means of the drive device 5, as in Figure 1 and Figure 2 At least one wheel 4 is driven as indicated by arrow 6. As a result, a driving movement of the device 1 can be initiated or at least assisted as a function of the driving force applied by the drive device 5 (supplementary: completely).

[0092] The device 1 also has a direction control device 7. The direction of travel of the travel movement can be changed by means of the direction influencing device 7. For example, Figure 2 The orientation of at least one wheel 4 can be influenced as shown by arrow 8. However, other configurations of the direction influencing device 7 are also possible. The direction influencing device 7 is referred to as a steering device 7 in the following. However, this is not limited to a steering device in a narrow sense.

[0093] according to Figure 3 , the device 1 moves within the building 9. Figure 3 The wall of the building 9 is shown in solid lines, wherein doors present in the wall or elsewhere are not shown. However, the wall is of secondary significance. What is decisive is the presence of a plurality of defined terminals 10. Figure 3 These terminals 10 are shown in the diagram by small circles. The mobile medical device 1 moves to the terminals 10 on a defined path 11, usually between the terminals 10. Figure 3 The path 11 is drawn as a dotted line.

[0094] Both the structure of the building 9 and the number of terminals 10 as well as the possible routes 11 are purely exemplary. Figure 3 In the diagram, only a few terminal stations 10 and a few routes 11 are provided with their reference numerals.

[0095] according to Figure 1 The device 1 has a control device 12. Both the drive device 5 and the steering device 7 can be controlled by the control device 12. The control device 12 is programmed with a control program 13. The control program 13 includes a machine code 14 that can be processed by the control device 12. The processing of the machine code 14 by the control device 12 causes the control device 12 to execute an operating method, the basic principle of which is described below in conjunction with Figure 4 The configuration of this basic principle will be described in detail later in conjunction with other drawings.

[0096] according to Figure 4 In step S1, the control device 12 knows the terminal 10 and the route 11. Step S1 can be performed in principle in any desired manner. A preferred manner of performing step S1 is explained in detail below.

[0097] In step S2, the control device 12 knows the current position p of the device 1. In step S2, the control device 12 also usually knows the orientation o of the device 1. This can be explicitly specified, for example, by the operator 15. Other possibilities are also possible.

[0098] In step S3, the control device 12 checks whether the operator 15 has given it a driving request FA (see Figure 1 ). If this is the case, the control device 12 receives the driving request FA in step S4. Otherwise, the control device 12 returns directly to step S3.

[0099] In the following, the provision of a driving request FA to the control device 12 is always expressed only briefly. The facts are thus described from the perspective of the operator 15. From the perspective of the control device 12, this always corresponds to the fact that the control device 12 receives the driving request FA. Similar facts also apply to other requests that are provided by the operator 15 to the control device 12 and are therefore also received by the control device 12.

[0100] In the case of a driving request FA, the control device 12 determines in step S5 at least an approximate target direction of the driving movement when evaluating the driving request FA. In some cases, i.e. when the driven wheels 4 can only be driven in the "forward" direction by means of the drive device 5, the execution of step S5 is trivial. In other cases, for example, a distinction can be made between forward and backward directions. In step S6, the control device 12 controls the drive device 5 according to the target direction determined in step S5.

[0101] In step S7, the control device 12 checks whether the operator 15 has also given the control device a request DA for a change of direction (hereinafter referred to as a steering request DA) in addition to the driving request FA. If this is the case, the control device 12 controls the steering device 7 accordingly in step S8. The control device 12 then transitions to step S9. In step S9, the control device 12 updates the current position p (and, if necessary, the current orientation o) of the device 1. From step 9, the control device 12 returns to step S3. If the control device 12 does not transition from step S7 to step S8, the control device 12 transitions to step S10. In step S10, the control device 12 checks whether the current position p of the device 1 is at least approximately located on one of the paths 11. If this is the case, the control device transitions to step S11. In step S11, the control device 12 controls the steering device 7 in addition to the drive device 5. The control is performed in such a way that the device 1 moves on the relevant path 11 on which it is currently located. From step S11, the control device 12 transitions to step S9.

[0102] If the control device 12 does not transition from step S10 to step S11 , the control device 12 directly transitions to step S9 . Step S10 is therefore skipped.

[0103] from Figure 4 These basic principles also apply to the configurations described later.

[0104] First, it can be seen that the control device executes step S4 and the subsequent steps S5 to S11 only when a driving request FA is specified to it. The cycle time for the control device 12 to execute step S3 and, if necessary, the subsequent steps S4 to S11 once is usually in the range of a few milliseconds. Therefore, as long as the control device 12 receives the driving request FA, only the drive device 5 and, if necessary, the steering device 7 are activated.

[0105] It can also be seen that the driving request FA and the turning request DA are always executed. Therefore, it is also possible to execute when the device 1 is not on one of the paths 11. Figure 4 In this case, only step S11 is not executed.

[0106] It can also be seen that a change of direction specified by the operator 15 takes precedence over remaining on one of the paths 11. However, if the device 1 is located on one of the paths 11, the travel movement of the device 1 follows the corresponding path 11, which applies both if the corresponding path 11 runs straight and if the corresponding path 11 has curves or inflection points.

[0107] Finally, it can be seen that control device 12 continuously updates the current position p (and, if applicable, the current orientation o) of device 1 during the driving movement.

[0108] If necessary, the drive device 5 and / or the steering device 7 can also be switched off by the operator 15. In this case, the drive device 5 and / or the steering device 7 are not actuated by the control device 12. However, in this case, the updating of the position p and, if necessary, the orientation o is usually continued. In addition, the method according to the invention can also be stopped and the device 1 can be operated in a conventional manner. In this case, steps S10 and S11 are not executed. In this case, the transition to step S9 is carried out directly in the No branch of step S7.

[0109] Figure 5 and Figure 6 A possible preferred way of specifying a driving request FA to the control device 12 is shown. Figure 5 and Figure 6 , the device 1 has a (first) force handle 16. For example, as in Figure 5 and Figure 6 As indicated by arrows 17 and 18, the power handle 16 can be moved slightly (up to a few millimeters or even less) forward and can also move backward. It can also be sufficient to apply a force purely, i.e. without mechanical movement. The forward movement and possible backward movement only occur when the operator 15 acts on the power handle 16 with a corresponding force F1 or F2 in the horizontal direction (hereinafter referred to as the horizontal priority direction). In addition, the corresponding force F1, F2 must be greater than the first minimum force Fmin1, which makes the power handle 16 resist deflection from the static position. If the force F1>Fmin1 acts on the power handle 16 in the priority direction (regardless of whether there is mechanical movement), the control device 12 evaluates it as a travel request FA in the horizontal priority direction ("forward"). If the force F2>Fmin1 acts on the power handle 16 in the opposite direction to the priority direction (regardless of whether there is mechanical movement), the control device 12 evaluates it as a travel request FA in the opposite direction to the horizontal priority direction ("backward"). The corresponding sensor device is generally known to those skilled in the art and does not need to be explained in detail.

[0110] In many cases, especially in Figure 6 The illustration in FIG. 1 can accordingly still be that the force handle 16 is acted on in a horizontal transverse direction orthogonal to the horizontal priority direction. Figure 5 and Figure 6In the figure, as indicated by arrows 19 and 20, it is possible to move slightly to the left and right (as before, a few millimeters or even less distance may be sufficient). Movement to the left or right only occurs when the operator 15 acts on the power handle 16 with the corresponding force F3 or F4 in the lateral direction. In addition, the corresponding force F3, F4 must be greater than the second minimum force Fmin2, which makes the power handle 16 resist deflection from the static position. If the force F3>Fmin2 acts on the power handle 16 in the lateral direction to the left, the control device 12 evaluates it as a steering request DA to the right or left (note the order of the two terms). If the force F4>Fmin2 acts on the power handle 16 in the lateral direction, the control device 12 evaluates it as a steering request DA to the left or right (note the order of the two terms). The corresponding sensor device is also generally known to those skilled in the art, so it does not need to be explained in detail. In addition, a configuration without mechanical movement, i.e., with the help of pure recognition force, can also be achieved here.

[0111] Figure 7 Shown for Figure 5 and Figure 6 An alternative possible and likewise preferred approach is that control device 12 can predetermine driving request FA and steering request DA in this way. Figure 7 In addition to the first force handle 16, the device 1 also has a second force handle 21. Viewed in the transverse direction, the two force handles 16, 21 are spaced apart from each other. Forces F5 and F6 can be applied to the two force handles 16, 21, respectively. The corresponding forces F5 and F6 point in the horizontal priority direction ("forward") when they are respectively positive values, and point in the opposite direction to the horizontal priority direction ("backward") when they are respectively negative values. The forces F5 and F6 applied to the two force handles 16, 21 can be analyzed and evaluated by the control device 12 (for example) as follows:

[0112] If the magnitude of the two forces F5 , F6 is less than the minimum force Fmin1 , the control device 12 evaluates this as follows, and neither a driving request FA nor a steering request DA is predefined therefor.

[0113] If the magnitude of the two forces F5, F6 is greater than the minimum force Fmin1, the control device 12 evaluates it as follows:

[0114] If both forces F5 , F6 are greater than 0, there is a travel request FA for forward travel.

[0115] If both forces F5 , F6 are less than 0, there is a travel request FA for reverse travel.

[0116] If the force F5 is greater than 0 and the force F6 is less than 0, there is a steering request DA in one direction.

[0117] If the force F5 is less than 0 and the force F6 is greater than 0, there is a steering request DA in the other direction.

[0118] If the magnitude of one of the two forces F5, F6 is greater than the minimum force Fmin1, while the other is less than the minimum force, the control device 12 evaluates it as follows:

[0119] If the magnitude of force F5 is greater than minimum force Fmin1 , there is a steering request DA in one direction or in the other direction, depending on the sign of force F5 .

[0120] If the magnitude of force F6 is greater than minimum force Fmin1 , there is a steering request DA in the other direction or a steering request DA in one direction, depending on the sign of force F6 .

[0121] Thus, the control device 12 will evaluate the first and second forces F5, F6 acting in the same manner on the two force handles 16, 21 in the horizontal priority direction as a travel request in the horizontal priority direction. Similarly, if (at least) one of the two forces F5, F6 is greater than the first minimum force Fmin1, the control device 12 will evaluate the two force handles 16, 21 acting differently in the horizontal priority direction as a steering request DA.

[0122] As mentioned above, it is not mandatory for the device 1 to move on one of the paths 11. If the device 1 does not move on one of the paths 11, it can occur that when the device 1 moves, the device 1 corresponds to the path 11. Figure 8 When moving (in Figure 8 In this case, the device 1 preferably continues to move on the path 11. It can be that the operator 15 always decides according to the Figure 8 However, preferably, the control device 12 determines the angle α at which the device 1 encounters the path 11. Both the determination of the encounter path 11 and the determination of the angle α can be easily implemented, because the control device 12 knows the path 11 anyway, and the direction of movement of the device 1 can also be known due to the sequence of the current position p.

[0123] The control device 12 can compare the angle α determined with the limiting angle αG. The limiting angle αG is an acute angle, which is therefore less than 90°. If the angle α is as large as the limiting angle αG, the control device 12 can autonomously determine the direction in which the device 1 is moved on the path 11 when encountering the path 11. Of course, as indicated by the arrow 22, the selected direction is associated with the smallest change in direction compared to the current direction of movement. The limiting angle αG can be 70°, for example.

[0124] If already from Figure 3 It can be seen in and Fig. 9 It is also more clearly shown in FIG. 1 that the paths 11 can merge, intersect, fork, etc. as required. The control device 12 generally does not know which terminal 10 is to be approached. Therefore, if the device 1 moves on the path 11, in some cases, the control device 12 may not know which path 11 the device 1 should continue to move on from the intersection or fork in the case of an intersection or fork in the road. It is always possible that the operator 15 gives the control device 12 a corresponding presetting. This process can be supplemented by taking into account the movement speed of the device 1: if the movement speed is above a limit value, the path 11 associated with the smallest change of direction is always continued from the intersection or fork in the road. Conversely, if the movement speed is below a limit value, the operator 15 is always asked before the intersection or fork in the road which path 11 should be continued from the intersection or fork in the road.

[0125] Furthermore, when the moving speed is below a limit value, the operator 15 can also predetermine the turning request DA without predetermining the turning request DA. In this case, the path 11 associated with the minimum change of direction is continued after the intersection.

[0126] The desire to turn can be specified to the control device 12 by a corresponding turning request DA. In this case, it can be sufficient if the turning request DA is specified only for a short time, that is, in particular not during the entire time period required for a complete change from the driving direction before the intersection to the new driving direction after the intersection or the intersection, for example, 5 seconds. If, for example, the distance to the intersection or the intersection is less than x meters or less than y seconds taking into account the current speed, and the operator 15 specifies the turning request DA to the right to the control device 12 for a short time (for example, more than 0.2 seconds, but less than 1 second), the control device 12 can "know" based on the turning request DA that a right turn should be made at the intersection or the intersection.

[0127] Combine the following Fig.10 Explain the process in detail. Fig.10 In the process of assuming that device 1 has moved on one of the paths 11. Therefore, Fig.10 A possible configuration of step S11 is shown.

[0128] according to Fig.10 , the control device 12 checks in step S21 whether the device 1 is approaching a fork or a crossroads on the currently traveling path 11. If this is not the case, the control device 12 follows the currently traveling path 11 in step S22.

[0129] If the device 1 approaches a fork or intersection, the control device 12 selects in step S23 a path 11 that forms the smallest angle with the currently traveled path 11 after the fork or intersection, i.e., on this path, the currently traveled path 11 is continued with the smallest change of direction. If necessary, step S23 can be modified as follows, i.e., the control device 12 selects in step S23 only paths 11 that are a straight extension of the currently traveled path 11 or are only associated with a change of direction that does not exceed a predetermined limit value.

[0130] The control device 12 then checks in step S24 whether the current speed is higher than the minimum speed. If this is the case, the control device 12 selects in step S25 the path 11 selected in step S23 as the path 11 along which the device 1 is to move further. Otherwise, it is necessary for the operator 15 to specify in step S26 the selection of one of the paths 11 to the control device 12. As already mentioned, the specification can be a short-term specification, i.e. it does not have to occur during the entire change of direction. It can also be a confirmation that the vehicle is to continue to travel (more or less) straight ahead.

[0131] In the simplest case, the control device 12 only knows the path 11 itself. However, it is possible that the control device 12 also knows, together with the path 11, the limiting value vmax,amax of the time derivative of the position of the device 1 on the path 11. Fig.11 A possible procedure for limiting the movement speed along one of the paths 11 is shown purely by way of example. Fig.12 In a similar manner, for example, a possible process of limiting the acceleration along this path 11 is shown. The (proportional) positions along the respective paths 11 are indicated by the reference symbol s. Of course, the presetting of the limit values ​​vmax, amax does not mean that the device 1 moves with these limit values ​​vmax, amax. However, the limit values ​​vmax, amax are upper limits to be observed when the device 1 moves. The limit values ​​vmax, amax are usually quantitative values. These quantitative values ​​usually apply to both directions of travel and both directions of action. However, these quantitative values ​​can also be predefined as a function of the direction of travel and / or the direction of action, if necessary.

[0132] In another preferred embodiment of the present invention, the control device 12 continuously receives information I about the surroundings of the device 1 during the movement of the device 1. See, for example Figure 1 A camera 23 or a similar device can be arranged on the device 1 to observe the driving direction, and the image detected by the camera is provided to the control device 12. In the case of continuous reception of information I, step S11 or step S22 can be combined as follows: Fig.13 The described configuration.

[0133] according to Fig.13, the control device 12 receives the information I in step S31. In step S32, the control device 12 processes the received information I. The corresponding algorithms are generally known to those skilled in the art.

[0134] In step S33, the control device 12 checks whether an obstacle 24 (see FIG. 24 ) on the current path 11 is identified based on the received information I. Fig.14 ). In the context of step S33, the control device 12 also takes into account the known dimensions of the mobile medical device 1 in addition to the determined position and the determined dimensions of the obstacle 24. If and as long as no obstacle 24 is detected, the control device 12 follows the currently travelled path 11 in step S34.

[0135] However, if the control device 12 recognizes an obstacle 24, the control device 12 autonomously plans (at least) a detour route 25 in step S35, by means of which the obstacle 24 can be bypassed and the device 1 can then continue to move on the path 11. In step S36, the control device 12 uses the newly planned detour route 25 (or one of the planned detour routes 25) for the corresponding section of the path 11 as the new path 11. Only then does the control device 12 transition to step S34. When step S34 is now executed, the path 11 is continued while taking into account the detour route 25. The control device 12 thus moves the device 1 on the detour route 25.

[0136] If necessary, a step S37 can additionally be present, in which the control device 12 receives a selection of a plurality of planned detour routes 25 or a confirmation of a (single) planned detour route 25 from the operator 15. However, step S37 can be omitted or skipped in some cases. Fig.13 The steps are shown only with dashed lines because the steps do not always have to exist and / or be performed.

[0137] Fig.15 Another possible configuration of step S11 or step S22 or step S34 is shown. Fig.15 The process is usually only relevant when the device 1 is located on one of the paths 11 and the path 11 does not have a crossroad or fork in the road as seen in the direction of travel to the terminal 10. In this situation, only the terminal 10 can be approached. In this context, it is important that the device 1 moves towards the terminal 10, i.e. does not move away from the terminal 10.

[0138] according to Fig.15In this case, when traveling along the path 11, the control device 12 can continuously determine the remaining distance d between the device 1 and the corresponding terminal 10 in step S41. The distance d does not have to correspond to the geometric distance, but usually corresponds to the distance that still needs to be traveled along the path 11. In step S42, the control device 12 can check whether the distance d is less than the minimum distance dmin. As long as it does not fall below the minimum distance dmin, in step S43, the movement along the path 11 is "normal", that is, on the one hand, it moves under the control of the operator 15, but on the other hand, it follows the path 11. On the other hand, if it falls below the minimum distance dmin, the control device 12 transitions to step S44 or step S45. Only one of the two steps S44 and S45 is always executed. Which of the two steps is executed can vary depending on the terminal 10.

[0139] In step S44, the control device 12 completely takes over the control of the movement of the device 1 to the terminal 10, if necessary after prior authorization by the operator 15. This procedure can be useful if, on the one hand, a precise positioning at the terminal 10 is required and, on the other hand, accidents with the device 1 during the remaining movement can be excluded. An example of such a situation can be docking a patient couch with a medical imaging module, such as a CT device or an MR device. During the execution of step S44, it can be irrelevant whether the travel request FA is still specified to the control device 12 or no longer specified.

[0140] In step S45, the control device 12 adjusts the actuation of the steering device 7 in order to move on the relevant path 11. The steering movement thus only takes place as a result of a corresponding specification by the operator 15. This procedure can be particularly useful if the operator 12 has the necessary knowledge of the exact position p (and optionally the exact position o) at which the device 1 is parked at the terminal 10.

[0141] Fig.16 Show Figure 4 Here, Fig.16 Only show Figure 4 The relevant part of . Figure 4 The rest remains unchanged.

[0142] according to Fig.16, steps S51 and S52 are inserted between steps S2 and S3. In step S51, the control device 12 checks whether the operator 15 has given it a special instruction SB for turning. If no special instruction SB is given to it, the control device 12 skips step S52 and thus directly transitions to step S3. On the contrary, if a special instruction SB is given, the control device 12 controls the steering device 7 in step S52 so that the medical device 1 rotates 180° around the vertical axis on the spot. This is the so-called "reverse travel". If the device 1 is already on one of the paths 11, it is particularly advantageous to execute step S52. However, in principle, it can also be executed if this is not the case. It is also important to include steps S51 and S52 in Figure 4 Therefore, from step S3 and step S9 (see Figure 4 ) Fig.16 In the case of the configuration, the control device 12 no longer returns to step S3, but returns to step S51.

[0143] In general, although the control device 12 knows the terminal 10 and the route 11 in advance, the control device 12 does not know in advance the specific terminal 10 to be approached. An exception is the situation already described in which there are no more intersections and forks in the driving direction, but only a single terminal 10, starting from the current position p of the device 1.

[0144] However, another exceptional case can be realized, that is, the operator 15 provides the possibility to select a certain terminal 10 as the terminal 10 to be approached and predetermine it to the control device 12. In this case, the control device 12 can autonomously determine its known path 1 from the current position p to the terminal 10 to be approached based on the current position p of the device 1 and the terminal 10 to be approached. If the device 1 is already on one of the paths 11, it can be particularly meaningful to predetermine the terminal 10 to be approached. In principle, however, it is also possible to predetermine the terminal 10 to be approached if the device 1 is not yet on one of the paths 11. In this case, the control device 12 can, for example, determine the nearest position on one of the paths 11 starting from the current position p, optionally taking into account the current orientation o, and plan from this position.

[0145] There are various possibilities for predefining the destinations 10 and the routes 11. For example, the corresponding information can be loaded into the control device 12 in the form of a program or other data set. However, the control device 12 preferably receives the destinations 10 and / or the routes 11 in a learning operation by self-learning (teach-in).

[0146] To perform self-learning, the control device 12 is first placed in a learning mode by the operator 15, for example by actuating a certain button (learning button) or a predefined numerical code. The operation of the device 1 is then combined with the above Figure 4 The operation described is carried out analogously. The difference is that in this learning operation, steps S10 and S11 are always skipped. Therefore, steps S10 and S11 are never executed in the learning operation. Another difference is that the control device 12 continuously stores the position p of the device 1 and, if necessary, also the orientation o of the device 1 during the movement of the device 1, and thus maps the path 11. In the learning operation, the terminal 10 can be "learned" by the operator 15, for example, moving the device 1 to a certain position p and then actuating a special button. Due to the actuation of the special button, the control device 12 can in this case accept the position p obtained at this point in time as the terminal 10. The terminal 10 and the path 11 are therefore determined at the end of the learning operation.

[0147] When switching back to the learning mode, two different processes can be implemented. On the one hand, the destinations 10 and routes 11 learned in the previous learning mode can be deleted, so that the learning starts from the beginning again. On the other hand, the destinations 10 and routes 11 learned in the previous learning mode can be retained, so that the learning starts from the current knowledge level from the perspective of the control device 12.

[0148] It is possible that the control device 12 accepts the path 11 exactly as it is predefined by the operator 15 within the scope of self-learning. Fig.17 The self-learned predefined path, which is provided with reference numeral 26 in FIG. 1 , never runs straight over longer distances. The reason for this is that the operator 15 usually does not move in exactly the right direction when moving the device 1 , but always has to make small corrections in direction. Fig.17 This situation is shown purely by way of example, i.e., from one terminal 10 to another terminal 10, two substantially straight sections are driven through, and these two sections are adjacent to each other at a significant angle (about 90 ° in the example shown). If in normal operation, the path 26 given in the scope of self-learning is now accurately driven through, then it will be driven through with a small direction correction. However, this is not necessary. Therefore, the control device 12 preferably smoothes this path 26 based on the path 26 given by self-learning. For example, for this purpose, the control device 12 can first determine a zigzag curve 27 around the path 26 given in the scope of self-learning. In this zigzag curve 27, the control device 12 can determine the following path as the generated path 28 (i.e., path 11), which is as straight as possible and satisfies a determined condition at a position where the direction change is inevitable, such as not less than the minimum radius of curvature.

[0149] In addition to the explicit learning operation described above, an implicit learning operation similar to self-learning during continuous operation can also be implemented ( Figure 4 ). In this case, the control device 12 also performs a self-learning process during continuous operation to such an extent that it stores the position p of the non-terminal station 10 at which the device 1 was parked by the operator 15 and the associated path (this expression is used to distinguish it from the path 11). Therefore, the corresponding position p is not (yet) the terminal station 10, and the associated path is not the path 11 as long as it is outside the path 11.

[0150] The one-time use of such a position p for parking the device 1 is not yet a sufficient indicator of a "new destination". However, if the device 1 is parked sufficiently frequently at the corresponding position p within a predetermined period of time, the control device 12 can accept such a position p and the associated path (the latter may be based on the Fig.17 The process of preparing the terminal 10 and the associated route 11 can be adopted as a new terminal 10 and the associated route 11. For example, if the corresponding position p is approached at least ten times in total (regardless of the time period), or at least three times during a day or at least five times during a week, it can be accepted as a new terminal 10 and the associated route 11. If necessary, it can be accepted only with prior confirmation by the operator 15.

[0151] In summary, the present invention relates to the following facts:

[0152] The mobile medical device 1 can be moved on a floor 3 in a building 9 by means of a moving mechanism 2. The travel movement of the device 1 can be caused or at least assisted by means of at least one drive device 5. The travel direction of the travel movement can be changed by means of a direction influencing device 7. Both the drive device 5 and the direction influencing device 7 can be controlled by a control device 12. The control device 12 knows the terminal 10 and the path 11 leading to the terminal 10 as well as the current position p of the device 1. The control device 12 receives a travel request FA from an operator 15 and determines at least an approximate target travel direction of the travel movement using the travel request FA. As soon as the travel request FA is received, the control device 12 controls the drive device 5. In addition to the drive device 5, the control device 12 also controls the direction influencing device 7 so that when the control device receives the travel request FA and the current position p of the device 1 is at least approximately on the path 11, the device 1 moves on one of the paths 11. In addition, during the travel movement, the control device 12 continuously updates the current position p of the device 1.

[0153] The invention has several advantages. In particular, the interaction of the operator 15 with the device 1 up to now can remain unchanged. Basically, the operator 15 pushes or pulls the device 1 as before and steers as required. The path 11 is still followed, which is a significant advantage in particular when driving on curves and when the operator 15 is inexperienced. The operator 15 continues to maintain control of the driving movement, so that no special safety-related aspects need to be taken into account. However, significant advantages also arise in the medical workflow. Any state, such as activation of guidance on one of the paths 11 when encountering a path 11, activation in principle according to the operating method of the invention, etc. can be displayed visually, acoustically, tactilely, etc.

[0154] Although the present invention has been illustrated and described in detail through the preferred embodiments, the present invention is not limited to the disclosed embodiments, and other variations can be derived by those skilled in the art without departing from the scope of protection of the present invention.

Claims

1. A method for operating a mobile medical device (1), the mobile medical device comprising: a moving mechanism (2), by means of which the device (1) can be moved on the ground (3) in the building (9); at least one drive device (5), by means of which a travel movement of the device (1) can be initiated or at least assisted; a direction influencing device (7), by means of which the travel direction of the travel movement can be changed, and a control device (12), by which both the drive device (5) and the direction influencing device (7) can be actuated, - wherein the number of terminals (10) and the paths (11) leading to the terminals (10) are known to the control device (12), - wherein the current position (p) of the device (1) is known to the control device (12), - wherein the control device (12) receives a travel request (FA) from an operator (15), - wherein the control device (12) determines at least an approximate target direction of the driving movement when evaluating the driving request (FA), - the control device (12) actuates only the drive device (5) as soon as it receives the driving request (FA), - when the control device (12) receives the travel request (FA) and the current position (p) of the device (1) is at least approximately on one of the paths (11), the control device actuates the direction influencing device (7) in addition to the drive device (5) so that the device (1) moves on the path (11) in question, and The control device (12) continuously updates the current position (p) of the device (1) during the driving movement.

2. The operating method according to claim 1, It is characterized in that The control device (12) evaluates a force (F1, F2) acting on a first force handle (16) of the device (1) in a horizontal priority direction with a force greater than a first minimum force as a travel request (FA) in the horizontal priority direction.

3. The operating method according to claim 2, It is characterized in that The control device (12) evaluates a force (F3, F4) acting on the first force handle (16) in a horizontal lateral direction orthogonal to the horizontal priority direction with a force greater than a second minimum force as a request (DA) for a change in direction of the driving movement, and controls the direction influencing device (7) accordingly.

4. The operating method according to claim 1, It is characterized in that - the control device (12) evaluates the first force (F5) and the second force (F6) acting in the same manner on the first force handle (16) and the second force handle (21) of the device (1) along the horizontal priority direction as a travel request (FA) along the horizontal priority direction, the first force handle and the second force handle being horizontally spaced apart from each other when viewed orthogonally to the horizontal priority direction, and - The control device (12) evaluates the different actions on the first force handle (16) and the second force handle (21) along the horizontal priority direction as a request (DA) for a change in the direction of the driving movement and controls the direction influencing device (7) accordingly, wherein the first force (F5) and the second force (F6) are greater than the first minimum force.

5. The operating method according to any one of the preceding claims, It is characterized in that When the device (1) encounters a path (11) while moving at an angle (α) that is at most as large as the limiting angle (αG) of the acute angle, the control device (12) autonomously determines in which direction the control device moves the device (1) on the path (11).

6. The operating method according to any one of the preceding claims, It is characterized in that In the case of a fork in the road, the control device (12) autonomously selects the following path (11) as a further path (11) after the fork in the road, without a request for a change of direction (DA), the travel of which is associated with a minimal change of direction.

7. The operating method according to any one of the preceding claims, It is characterized in that The control device (12) causes or at least assists the travel movement on the path (11) by taking into account a limit value (vmax, amax) of the time derivative of the position (p) of the device (1) on the path (11), and the limit value (vmax, amax) can be varied along the corresponding path (11).

8. The operating method according to any one of the preceding claims, It is characterized in that The control device (12) continuously receives information (I) about the surroundings of the device (1) during the movement of the device (1), so that the control device (12) analyzes and evaluates the information (I) as follows: whether there is an obstacle (24) on the path (11), and if there is an obstacle (24), the control device (12) autonomously plans a detour route (25), the obstacle (24) is detoured using the detour route, and the device (1) moves on the detour route (25).

9. The operating method according to any one of the preceding claims, It is characterized in that The control device (12) adjusts the control of the direction influencing device (7) when a minimum distance (dmin) to a terminal (10) is fallen below and when the vehicle is moving towards the terminal (10), either for the purpose of moving on the relevant path (11) or also approaches the relevant terminal (10) on the relevant path (11) if the driving request (FA) is no longer specified to the control device.

10. The operating method according to any one of the preceding claims, It is characterized in that The control device (12) is capable of receiving a request (SB) for a reversal of direction and in this case the control device (12) rotates the medical device (1) on the spot by 180° about a vertical axis.

11. The operating method according to any one of the preceding claims, It is characterized in that The control device (12) receives a pre-determination of a terminal (10) to be approached and, based on the current position (p) of the device (1) and the terminal (10) to be approached, autonomously determines a path (11) from the current position (p) to the terminal (10) to be approached, which is known to the control device.

12. The operating method according to any one of the preceding claims, It is characterized in that The control device (12) receives the destination (10) and / or the route (11) by self-learning in a learning mode.

13. The operating method according to claim 12, It is characterized in that The control device (12) performs a smoothing of the path (26) based on the path (26) predefined by self-learning.

14. The operating method according to any one of the preceding claims, It is characterized in that The control device (12) stores a position (p) at which the device (1) is parked, although not a terminal (10), and if the device (1) is parked at the corresponding position (p) sufficiently frequently within a predetermined time period, the control device additionally accepts the position (p) as a terminal (10).

15. The operating method according to claim 14, It is characterized in that With regard to the position (p) where the device (1) is parked, although not the terminal (10), the control device (12) also stores the corresponding route leading to the position (p) and, if the control device accepts the corresponding position (p) as an additional terminal (10), additionally accepts the route as a path (11).

16. A control program for a control device (12) of a mobile medical device (1), the mobile medical device having a moving mechanism (2), by means of which the device (1) can be moved on a ground (3) within a building (9); at least one drive device (5), by means of which the driving movement of the device (1) can be caused or at least assisted; and a direction influencing device (7), by means of which the driving direction of the driving movement can be changed, wherein the control program includes a machine code (14), which can be processed by the control device (12), wherein the processing of the machine code (14) by the control device (12) causes the control device (12) to execute an operating method according to any of the preceding claims.

17. A control device for a mobile medical device (1), the mobile medical device comprising a moving mechanism (2), by means of which the device (1) can be moved on the ground (3) in a building (9); at least one drive device (5), by means of which the driving movement of the device (1) can be caused or at least assisted; and a direction influencing device (7), by means of which the driving direction of the driving movement can be changed, wherein the control device is programmed with a control program (13) according to claim 16, so that the control device executes the operating method according to any one of claims 1 to 15 during operation.

18. A mobile medical device, -in, The device has a moving mechanism (2), by means of which the device (1) can be moved on the ground (3) in a building (9). - the device has at least one drive device (5), by means of which a travel movement of the device (1) can be brought about or at least assisted, - the device has a direction influencing device (7), by means of which the travel direction of the travel movement can be changed, - the device comprises a control device (12) by which the drive device (5) and the direction influencing device (7) can be controlled, - wherein the control device (12) is designed as a control device (12) according to claim 17.

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