Movable examining table and medical imaging system

Abstract

The utility model relates to a movable examination couch (1), which is used for accommodating and transporting a patient and comprises a traveling mechanism (10), the traveling mechanism is provided with a plurality of rolling elements (12), and the rolling elements roll on a base in the traveling movement of the examination couch (1). Wherein at least one of the rolling elements (12) is designed as a wheel (81) having a settable angle between the wheel axis (RA) and the longitudinal axis (LA) of the examination bed for setting the direction of travel of the examination bed (1). In addition, the utility model relates to a medical imaging system.

Description

Technical Field

[0001] The utility model relates to a mobile examination bed. Mobile examination beds are known per se. The mobile examination bed can cooperate with a medical imaging device during image data detection and / or can also be moved separately from the imaging device. Background Art

[0002] The mobile examination table thus offers the advantage that the patient can be placed on the examination table outside the examination room, ie, separately from the medical imaging facility, and prepared for example by placing coils (eg, head coil, limb coil, or body coil) that may be required for image data acquisition for a magnetic resonance examination.

[0003] Only then is the mobile examination table sent to the medical imaging facility. As a result, the examination room or the medical imaging facility is advantageously free for a longer period of time, which can make the overall workflow more efficient.

[0004] In order to ensure a defined relative position between the medical imaging system and the examination couch for each individual imaging or examination of a patient, known imaging systems include a docking station that interacts with a docking device of the examination couch. The docking station and the docking device interact for the purpose of image data acquisition in order to secure the examination couch in a defined relative position. For this purpose, the docking device may, for example, include a docking pin that is adjustable for the docking process and a connecting piece of the docking station that can be engaged from the rear to secure the examination couch.

[0005] The operator now has the task of pushing the examination couch, optionally with the patient thereon, into the examination room and then pushing it as closely as possible to the docking station of the medical imaging system, or the examination couch must be moved autonomously to the docking station.

[0006] Furthermore, the mobile examination bed can be designed passively, wherein the mobile examination bed must be manually driven by an operator. Alternatively, known examination beds can be motor-driven or motor-supported for travel. In some examples, autonomously movable examination beds are proposed.

[0007] In order to be able to initiate the docking process and, if necessary, to support it mechanically or hydraulically, the examination table and, in particular, the docking pins of the docking device, must be positioned at the docking location at an angle of acceptance between -7° and +7°. Ideally, an angle of acceptance between -2° and +2° should be achieved during approach, so that lateral impacts are minimized during docking by the automatic further orientation of the examination table to 0°.

[0008] If a docking station in a medical imaging system is located only slightly above the examination room floor, the operator often cannot directly see the docking pins or docking station of the docking device because the operator's field of view is obscured by the examination table, the patient, and / or accessories such as a coil. Therefore, the operator must estimate the current spacing, lateral orientation, or angular position between the examination table and the docking station.

[0009] The purposefully chosen wide reception angle of -7° to +7° makes it possible for the operator to reach the docking station even when visibility is limited. The docking process can then be initiated by pressing a button on the couch operating panel. During the docking process, the couch is moved closer to the medical imaging facility using the drive in the docking station.

[0010] If the docking point cannot be brought closer within the predefined tolerance range, a corresponding feedback (meaning: "docking not possible") is output to the operator via the medical imaging system, and the couch must be moved closer again.

[0011] However, until now, the patient had to endure the inconvenience caused by the expected initial impact, the sudden lateral movement during docking / orientation, and the repeated pushing close that might be necessary, as well as possible damage to the examination table or the docking point. In order to avoid repetitions from the outset, the examination table is currently moved to the docking point at the slowest possible speed. The quality and efficiency of current docking maneuvers currently depend on the number and training of the operating personnel. Since the docking point to be moved close cannot be seen when the examination table is pushed, a second employee is usually required to monitor and guide the operation in the case of untrained personnel. However, even in the case of trained personnel, due to time pressure, some incorrect attempts may occur. Similarly, during the docking process, the personnel focus on the medical instrument rather than the patient.

[0012] In order to simplify the pushing or moving of the examination bed, the travel mechanism of the mobile examination bed can, for example, include four follower rollers at each corner of the examination bed that can rotate freely around a vertical axis and a fifth wheel that is centrally arranged between the follower rollers and is oriented linearly, that is, along the longitudinal axis of the examination bed. The fifth wheel can be pressed onto the base via a spring mechanism and acts as a guide wheel. In the manual operating mode of the examination bed, the fifth wheel enables simple pushing in a straight line or around a sharp bend, and in a stationary state, enables the examination bed to be rotated around the fifth wheel. In particular, for the motor-assisted or autonomous operating mode of the examination bed, the fifth wheel can be equipped with a drive motor, which can motor-assisted or independently cause the pushing of the examination bed. Here, the operator's task is to preset the direction of the bed's movement by rotating the examination bed around the fifth wheel. The four follower rollers are oriented according to the preset direction and follow the manual preset.

[0013] Such an examination couch is known, for example, from German utility model DE 202016007430.

[0014] To achieve particularly high maneuverability, the examination table can also be configured with an omnidirectional travel mechanism. For example, four Mecanum wheels can be provided at the corners of the examination table. Mecanum wheels advantageously allow for any orientation of the table from a standstill. However, Mecanum wheels are typically large, expensive, and complex to maintain and clean. Furthermore, Mecanum wheels, due to their multiple roller elements that contact the base during movement, exhibit unique, but undesirable, vibrational behavior. Utility Model Content

[0015] In contrast, the object of the present invention is to provide a mobile examination couch having improved properties with respect to costs, maintenance, cleaning and its travel behavior.

[0016] The object is achieved by a mobile examination couch and a medical imaging system comprising the mobile examination couch according to the present invention. Preferred and / or alternative, advantageous design variants are the subject of the following description.

[0017] The following describes the solution of the object according to the present invention with respect to the claimed device. The features, advantages, or alternative embodiments mentioned herein can also be applied to other claimed subject matter, and vice versa. In particular, the physical embodiments (for example, the physical embodiments for the method) can also be improved by combining the features described or claimed in conjunction with one of the devices. The corresponding functional features of the method are hereby formed by corresponding physical modules or units.

[0018] In a first aspect, the present invention relates to a mobile examination couch for accommodating and transporting patients. The mobile examination couch includes a travel mechanism comprising a plurality of rolling elements that roll on a base during the couch's travel. At least one of the rolling elements is configured as a wheel having an adjustable angle between its wheel axis and the couch's longitudinal axis, thereby setting the couch's travel direction.

[0019] In the following, without limiting generality, the patient is assumed to be the examination subject, typically a human being. In principle, the patient can also be an animal. Therefore, the terms "examination subject" and "patient" are used synonymously below. Alternatively, the examination subject can be a plant or an inanimate object, such as a historical artifact.

[0020] The travel mechanism of the examination table according to the present invention includes a plurality of rolling elements, namely at least two or more. The rolling elements are designed to enable the travel movement of the mobile examination table independently of the operating mode of the examination table, for example, independent of an autonomous or semi-autonomous operating mode. In particular, the travel movement of the examination table can be directed toward a docking position, in which, for example, a docking device also provided on the mobile examination table reaches a docking location of a medical imaging device, with which the mobile examination table interacts for medical imaging.

[0021] At least one wheel with an adjustable angle is used for presetting or changing the direction of the mobile examination bed before or during the travel movement of the mobile examination bed. The adjustable angle is located between the longitudinal axis of the examination bed and the wheel axis, that is, the horizontally extending axis around which the wheel rotates when the examination bed rolls or travels on the base. When the examination bed travels straight, the adjustable angle is 90°. In an embodiment of the present invention, the adjustable angle can occupy a value between 0° and 180°, in other words, the longitudinal axis and the wheel axis can be arranged parallel in the extreme positions of the wheel. In a preferred embodiment, the adjustable angle can occupy a value between 30° and 150°, particularly preferably between 45° and 135°.

[0022] By presetting the adjustable angle, the mobile examination table is designed to assume a specific direction of travel or to change the direction of travel.

[0023] Angular adjustability within the meaning of the present invention describes the adaptation or change of the angular position of the wheel based on manual, preferably automatic, presetting. Adjustability also includes, in particular, the ability to secure or fix the wheel in a desired angular position. Angular adjustability also includes the ability to assume or set multiple angular positions in succession and for the wheel to be at least temporarily secured in the respective angular position.

[0024] The user no longer needs to exert force in manual or partially autonomous travel mode, for example, in order to set the desired direction.

[0025] The rolling element, designed as a wheel with an adjustable angle, preferably comprises a rolling body, which can be designed as a wheel element or a roller element and which rolls with its side surface on a substrate. In a preferred embodiment, the rolling body has a diameter greater than its height, with the basic shape of the rolling body essentially corresponding to the basic shape of a cylinder. The surface or material of the rolling body is optimized with respect to favorable friction properties, low deadweight, and high mechanical load capacity. For example, the rolling body can be made of plastic as an injection-molded part or can also be made of rubber.

[0026] In one embodiment of the present invention, the rolling elements are attached to or extend from the wheel platform, via which the wheel is mounted on the underside of the travel mechanism, in particular on the travel mechanism frame. In one embodiment, the rolling elements are suspended in a supporting frame and connected to the wheel platform. In one embodiment, the rolling elements are rotatably supported about their wheel axes, for example, by two supporting arms of the supporting frame extending laterally from the rolling elements. The supporting frame itself can be rotatably coupled to the wheel platform. Alternatively, the rolling elements can be rotatably connected to the wheel platform via connecting pieces or shafts extending perpendicularly to the wheel axis, typically extending vertically.

[0027] In other words, the wheel platform is fixedly or rigidly connected to the travel frame, while at least the rolling bodies and, in one embodiment, also other parts of the wheel are rotatable relative to the wheel platform and relative to the travel frame.

[0028] In an embodiment of the present invention, the travel mechanism comprises a travel mechanism frame or bracket, to which the rolling elements are mounted. The travel mechanism frame or bracket extends essentially within the scope of the bottom surface (=footprint) of the examination bed and can be at least partially open or closed in the embodiment. In an embodiment, the travel mechanism frame is designed to be load-bearing. In an embodiment, the travel mechanism frame is designed to at least partially accommodate other travel mechanism components, such as a drive unit and / or a brake unit or a powertrain for at least one of the rolling elements.

[0029] The travel mechanism frame can be mounted or suspended in the support structure of the examination bed. The support structure here constitutes a vertical module for supporting the examination bed, on which a horizontal module with a patient bed is mounted. The vertical module can include a lifting mechanism, such as a scissor lift, to adjust the height of the horizontal module. The horizontal module can also include a feed mechanism to adjust the bed bed horizontally, for example relative to the support frame of the horizontal module or relative to the rest of the examination bed, along the longitudinal axis of the examination bed.

[0030] As will be described in more detail further below, in an embodiment the wheel with a settable angle comprises further components which may preferably be arranged in a wheel platform forming a housing type.

[0031] By setting the angles at the wheels of the travel mechanism, following the desired movement path or trajectory is simplified, particularly in manual operating mode. The user only needs to specify the feed speed; the adjustable wheels assume the direction setting. This advantageously prevents deviations from the movement path in (partially) autonomous operating mode or at least makes such deviations more difficult.

[0032] In one embodiment of a mobile examination bed, the mobile examination bed includes precisely one wheel with an adjustable angle. The wheel with an adjustable angle is particularly preferably arranged centrally on the travel mechanism. This way, the wheel intended for the direction of movement of the mobile examination bed occupies a central position. Advantageously, the distances between the wheel and the other rolling elements arranged on the travel mechanism are substantially identical, so that very similar lever lengths act with respect to each other rolling element. This lever length particularly influences the starting behavior of the examination bed from a standstill or when changing direction, or the design of the drive components of the wheel with an adjustable angle, which will be described further below.

[0033] In a preferred embodiment, the wheels with adjustable angles enable omnidirectional mobility of the mobile couch, since the wheels with adjustable angles located centrally below the travel mechanism essentially allow the couch to be rotated about the wheels.

[0034] In the embodiment variant with centrally arranged wheels with an adjustable angle, the mobile couch preferably has a total of five rolling elements, ie, four further rolling elements in addition to the wheels with an adjustable angle.

[0035] Preferably, four further rolling elements are arranged at the corners, ie at, near or below the corners of the supporting frame of the travel mechanism, in order to achieve the best possible stability of the mobile couch and to prevent tilting of the couch.

[0036] As will be explained in greater detail further down the line, in an embodiment of a mobile bed, the other four rolling elements are designed as passive follower rollers. Each follower roller has a rolling body that rolls on a base about a horizontally extending wheel axis during bed movement. The four follower rollers are passive in this respect, as they are designed to be freely rotatable about a vertical axis, i.e., they follow a directional preset by a wheel having an adjustable angle. The four passive follower rollers are rigidly mounted on the bottom side of the bed's travel mechanism frame. For example, if the bed is manually pushed during a travel movement initiated by a user, for example via a bed handle arranged transversely to the bed's longitudinal axis, the follower rollers advantageously align themselves according to the directional preset, and the bed moves in the desired direction.

[0037] In another alternative embodiment variant of the mobile examination bed, exactly two wheels with an adjustable angle as described at the beginning are included. The wheels are particularly preferably arranged at one of the two longitudinal sides of the examination bed. In this way, no matter in which direction the examination bed is to move, this results in as little driving force as possible when starting from a standstill, because this makes it easier to overcome the static friction of the examination bed that acts when it is stationary. In order to further optimize the lever length acting between the multiple rolling elements at the examination bed, in an embodiment with exactly two wheels with an adjustable angle, the wheels are respectively arranged at diagonally opposite corners of the travel mechanism. Therefore, in the embodiment, the wheels replace the two follower rollers arranged at the corners. Therefore, in some embodiments of the mobile examination bed, the examination bed includes four rolling elements, wherein the four rolling elements are respectively arranged at the corners, near the corners or below the corners of the travel mechanism for stability reasons.

[0038] In this preferred embodiment, in addition to the two wheels with adjustable angles, the other two rolling elements are also preferably designed as passive, freely rotatable follower rollers. Regarding the follower rollers, the above-mentioned embodiments also apply.

[0039] In this embodiment, no rolling element is centrally located on the travel mechanism.

[0040] In an embodiment with two wheels having adjustable angles, the mobile examination table can also be moved in all directions. By setting the same angle on both wheels having adjustable angles, the examination table can be rotated about a vertical axis extending substantially through the center of the examination table.

[0041] To support or accelerate changes in the examination table's direction or advantageously reduce the radius of curvature of the mobile examination table's motion path, embodiments of the present invention provide that at least one of the follower rollers includes a braking unit for securing or braking the follower roller. To increase flexibility regarding possible motion directions or advantageously shorten the length of the motion path, in a particularly preferred embodiment, all included follower rollers include a braking unit. In one embodiment, the braking unit is configured to block or brake, i.e., slow down, the rotation of the follower roller about its wheel axis. Thus, the braking unit is configured to act on the follower roller so that it blocks or brakes the forward movement of the mobile examination table.

[0042] To simplify the automated setting of the desired direction of movement of the mobile examination bed, at least one wheel with an adjustable angle includes a first drive unit designed to rotate the at least one wheel about the vertical axis (described above) for setting the angle. In particular, the first drive unit rotates the rolling elements and, if necessary, other wheel components, such as the supporting frame in which the rolling elements are suspended, about the vertical axis. The first drive unit is preferably integrated into the wheel platform.

[0043] In a particularly preferred embodiment, the first drive unit also includes a fixing device, by means of which the wheel or the rolling elements of the wheel can be at least temporarily, i.e., releasably, secured at a set angle in order to ensure adherence to the desired feed direction. The fixing device can, for example, have a locking mechanism that releasably engages in recesses that are predetermined in predefined angular increments.

[0044] Furthermore, in a particularly preferred embodiment of the mobile examination bed, the travel mechanism may include an additional, namely a second, drive unit configured to drive the wheels having an adjustable angle to rotate about their wheel axis, i.e., to enable the examination bed to be advanced. In particular, the second drive unit is configured to drive the rolling elements to rotate about their wheel axis. In one embodiment, the second drive unit may be configured as a component of the travel mechanism and disposed within the travel mechanism frame. In other embodiments, the second drive unit may be configured as a component of the wheels having an adjustable angle and may also be preferably disposed within the wheel platform.

[0045] The two drive units are preferably designed as motors, particularly preferably as electric motors, and bring about a rotational movement of the shaft.

[0046] In one embodiment, a motor and an associated kinematic drive train are provided, which drive the corresponding rotation axis. In an embodiment with two drive units and two drive trains, the direction change can be carried out simultaneously with the advancement of the mobile examination table.

[0047] Both drive trains are also arranged at least partially or mostly in the wheel platform.

[0048] In an alternative embodiment, the adjustable-angle wheel can include a single drive unit, which is responsible for both advancing the examination table via the adjustable-angle wheel and adjusting its direction. In this embodiment, the adjustable-angle wheel also includes a clutch that couples the single motorized drive unit to either the wheel axle or the vertical axis. In this embodiment, the table advance can be paused for a change of direction, or vice versa, to facilitate reduced installation space.

[0049] At least one drive unit as well as the clutch and other components of the corresponding drive train are then preferably completely or largely integrated into the wheel platform so that at least one wheel with an adjustable angle can be installed and removed as a unit and replaced as a whole in the case of maintenance.

[0050] In a preferred embodiment, the drive unit, or the first and second drive units, acts only on the wheel of the travel mechanism with adjustable angles. In embodiments where the mobile examination bed has only one wheel with adjustable angles, a maximum of two drive units are included. In embodiments where the mobile examination bed has two wheels with adjustable angles, the examination bed includes a maximum of four drive units.

[0051] In a further preferred embodiment, the mobile examination bed also comprises a computing unit, which is configured to generate control signals for at least one drive unit for setting an angle at the wheel, for generating a feed of the wheel, and / or for generating control signals for at least one braking unit for a follower roller.

[0052] In another preferred embodiment, the mobile examination table, in particular the bed's travel mechanism, also includes a sensor module having at least one environmental sensor. The sensor module is configured to detect at least one environmental parameter. The computing unit is preferably configured to generate at least one control signal based on the at least one environmental parameter for the first drive unit to set the angle at the wheel, for the second drive unit to advance the examination table using the drive wheels, and / or for a brake unit associated with at least one of the follower rollers.

[0053] The sensor module of the examination bed according to the present invention is used to detect at least one, preferably multiple, sensor signals in the form of at least one environmental parameter. For this purpose, the sensor module includes at least one environmental sensor. Preferably, the sensor module can include multiple sensors, in particular of different types. The at least one detected sensor signal in the form of an environmental parameter indicates, for example, the distance and / or the (angular) position or orientation between the examination bed and the medical imaging system. The (angular) position or orientation can, in particular, be an angular value between the longitudinal axis of the examination bed and the central axis of the imaging system, for example, a central axis in the form of the longitudinal axis of a gantry of the imaging system.

[0054] In an embodiment of the examination couch according to the present invention, the sensor module includes at least one sensor from the following group of sensors: an optical sensor, an acoustic sensor, an acceleration sensor, a magnetic field sensor, and a tachometer.

[0055] The optical sensor can, for example, be a laser scanner or a 2D or 3D camera, both of which are designed to detect the environment and any obstacles or reference markers present therein, particularly movable ones, such as reference markers in the form of identification patterns, which are located, for example, in the medical imaging system and / or its docking station, or in other equipment within the examination environment. The optical sensor can also be designed to determine a three-dimensional model of the environment and transmit the model data to a computing unit for calculating the motion trajectory of a mobile examination table. Positioning can be performed, in particular using a 2D camera, by evaluating the spacing, size, and / or shape of the reference markers. Alternatively, for a medical imaging system in the form of a magnetic resonance tomography system, the sensor unit can include a magnetic field sensor for detecting static magnetic fields in the examination table's environment in order to position the table relative to the magnet. To this end, the sensor unit can include one or more magnetic field sensors (e.g., Hall sensors) located on the examination table. These magnetic field sensors determine the strength and direction of the magnetic field and can determine the position of the table based on the known field line orientation for the specific system. Alternatively, an acoustic sensor in the form of an ultrasonic transmitter and receiver, designed to measure the transit time of the sound waves, can be provided. An optical signal parallel to the ultrasonic path can be used for synchronization between the ultrasonic transmitter and receiver. Alternatively, a sensor in the form of a tachometer for one of the rolling elements of the travel mechanism can be used to determine the distance traveled relative to a previously determined reference position (e.g., a rest stop or charging station for the examination table), the relative position change, and thus the relative position to the docking position of the examination table (odometry).

[0056] In an embodiment involving an examination table, the sensor module may be configured to detect additional sensor signals indicating the current relative position between the medical imaging device and the examination table during the movement of the examination table. In other words, the sensor module is configured to repeatedly detect at least one additional, and preferably multiple additional, environmental parameters while the examination table is moving toward the medical imaging device. For example, the sensor module may be configured to detect the environmental parameters every 300 milliseconds, every 500 milliseconds, or every second and transmit the environmental parameters to the computing unit for repeated further processing.

[0057] The mobile examination bed comprises a calculation unit as described above. The calculation unit is configured to receive and process environmental parameters detected by means of a sensor module. The calculation unit is configured to generate control signals for the wheel drive unit in accordance with the environmental parameters in order to set the angle of the examination bed and thus the direction of movement, to set the feed speed for at least one wheel having an adjustable angle, and / or to generate control signals for the brake unit of the follower roller. In an embodiment, the sum of the control signals generated, in particular repeatedly, by the calculation unit corresponds to a motion trajectory for the examination bed. The motion trajectory indicates a distance segment for the examination bed including a target position and, if necessary, a motion speed. For example, the motion trajectory describes the path that the examination bed must travel from its current position to the docking location (docking position = target position) of the imaging facility.

[0058] The computing unit advantageously includes an interface configured to detect or receive at least one environmental parameter and a control unit for calculating at least one control signal. The computing unit preferably includes an interface configured to output the at least one control signal to at least one drive unit and / or brake unit. The receiving interface can be configured as a separate structural unit from the output interface. However, the two interfaces can also be combined in a single interface structural unit.

[0059] The interface of the computer unit is particularly preferably designed for optical data communication. If the medical imaging system is a magnetic resonance system, this can prevent disruptive influences caused by the data exchange.

[0060] The computing unit is advantageously integrated into the examination couch, for example, into its supporting device, particularly preferably into the supporting frame of the travel mechanism. Alternatively, the computing unit can be designed as a computing unit of the medical imaging system or as part of a computing unit of the medical imaging system. Alternatively, the computing unit can be arranged separately or remotely from the examination couch or the medical imaging system, for example, as part of a central computing and control unit of a medical institution such as a hospital. Data exchange is then advantageously performed wirelessly.

[0061] In a particularly preferred embodiment of the examination table according to the present invention, the computing unit is configured to generate a control signal for a second drive unit of at least one wheel having an adjustable angle, which control signal is responsible for advancing the examination table. The computing unit is particularly configured to adjust the advancement speed of the wheel having an adjustable angle based on the relative position of the examination table in space detected by the sensor module or based on the distance between the current position of the examination table and the medical imaging device determined by the sensor module. The computing unit can particularly generate a control signal to increase the movement speed when the determined distance exceeds a predefined threshold value, or to reduce the movement speed when the determined distance falls below the predefined threshold value.

[0062] In other words, the examination couch approaches the medical imaging facility along a movement trajectory, and if a predetermined distance threshold, for example, 50 cm, 20 cm, or 10 cm, is fallen below, the movement speed of the examination couch generated by means of the second drive unit is set to a speed value below a predetermined maximum speed threshold. The predetermined maximum speed threshold is selected such that even on short path sections by means of the second drive unit, a comfortable directional adjustment can be achieved for setting the wheel angle by correspondingly actuating the first drive unit, which has at least one wheel with an adjustable angle.

[0063] In particular, a plurality of spacing intervals with corresponding movement speeds can also be provided, so that the movement speed decreases further the closer the examination bed is to the imaging device. In this way, the feed direction can be continuously adjusted by a control signal for the first drive unit at a set angle.

[0064] In the above-described embodiment of the examination table, the feeding force or movement speed of the examination table is provided at least partially, and particularly preferably entirely, by a motorized second drive unit. Thus, the examination table is configured for autonomous movement. In this embodiment, the user does not need to exert any personal force, or, in the case of motorized support, only very little personal force, to move the examination table. Particularly advantageously, the user no longer needs to exert any force to set the direction of movement for the examination table.

[0065] In another embodiment of the present invention, the mobile examination table alternatively or additionally includes an input interface for detecting at least one user input, wherein the computing unit is configured to generate at least one control signal for the first drive unit and / or the second drive unit and / or the at least one brake unit based on the at least one user input. The user input thus corresponds to a manual input by the user regarding a desired direction of movement and / or a desired speed of movement.

[0066] In one embodiment, the input interface corresponds to an operator interface. The input interface is particularly configured to detect tactile user input. To this end, the input interface may include, in particular, a force sensor, a pressure sensor, and / or an operating direction sensor. The detected pressure and / or force action is converted by the computing unit into a control signal representing the movement speed of the second drive unit responsible for bed advancement, and the detected operating direction is converted into a control signal representing the desired movement direction or change in movement direction of the first drive unit responsible for setting the wheel angle, and optionally into a control signal for a brake device for one of the follower rollers. In particular, the computing unit may be configured to consider tactile user input in addition to environmental parameters detected by the sensor module when generating the control signals. For example, a user can generate a control signal for the second drive unit corresponding to a desired advancement speed by applying a force to the input interface in a defined operating direction, and another control signal for the first drive unit for setting the wheel angle within a range of desired advancement directions. However, if the sensor module detects that the distance to an obstacle in the environment is below a predetermined threshold, the computing unit may adjust the generated control signal to prevent a collision with the obstacle. Alternatively, the computing unit may be designed to output a warning signal to a user via an output interface.

[0067] The input interface can be arranged in particular on the mobile examination bed and thus also carry out its movement. The input interface can be designed, for example, as a bed handle including the aforementioned sensor or as a joystick, which can each preferably be arranged at the foot or end of the mobile examination bed. The bed handle can advantageously extend over the entire width of the end or foot of the bed. Alternatively or additionally, the input interface can be located remotely from the examination bed, for example, on a bracket in a control room. In this regard, the input interface can be designed for remote control of the examination bed.

[0068] The computer unit is connected to the input interface of the mobile examination table via the interface of the computer unit for data communication. The computer unit is designed in particular to receive sensor data from the input interface via the receiving interface for further processing.

[0069] The wheels with adjustable angles allow the direction of movement to be preset with simple means. Therefore, the examination bed according to the present invention is suitable for purely manual operation, motor-assisted operation, or autonomous operation.

[0070] In another aspect, the present invention relates to a medical imaging system comprising a mobile examination table according to the present invention and a medical imaging device. The medical imaging device is used for imaging for medical purposes. The medical imaging device is particularly configured to generate image data using optical, electromagnetic, and / or X-ray radiation. The medical imaging device can be configured as an X-ray device, a computed tomography scanner, a positron emission tomography scanner, an ultrasound device, or the like.

[0071] In a particularly preferred embodiment of the present invention, the medical imaging system is designed as a magnetic resonance imaging system. The medical imaging system preferably includes a docking station for an examination couch on its gantry. In this embodiment, the mobile examination couch has the docking device described above, which, when docked with the docking station, can be detachably coupled to the magnetic resonance imaging system for data and / or energy transmission.

[0072] The medical imaging system may include other components. In particular, the medical imaging system may also include a docking station for an examination bed, to which the examination bed can be docked when not in use. For this purpose, the docking station may also be provided with a docking location that can interact with the docking device of the examination bed. When not in use, the examination bed can be supplied with energy in the docked state at the docking station via corresponding interfaces of the docking system. In particular, the battery system of the examination bed, such as a lithium-ion battery, can be charged there. The battery system can be used, in particular, to supply the aforementioned components, such as the sensor module, the computing unit, and / or the drive unit.

[0073] In summary, the present invention is based on the use of wheels for mobile examination beds, whose adjustment angles can be adjusted or set to follow a desired motion path and / or avoid collisions. According to the present invention, the angle setting is based on automatic and / or manual user presetting. By using at least one wheel, a cost-effective alternative to solutions with four corner Mecanum wheels is achieved for omnidirectional travel. Furthermore, the wheels with adjustable angles according to the present invention do not exhibit the vibrations typical of Mecanum wheels. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] The above-described characteristics, features, and advantages of the present invention, as well as the manner and method for achieving the same, will become more clearly understood and understood in conjunction with the following description of the embodiments, which are explained in detail in conjunction with the accompanying drawings. The present invention is not limited to the embodiments described in this description. Identical components are provided with the same reference numerals in different figures.

[0075] The drawings are generally not to scale.

[0076] Figure 1FIG2 is a diagram showing a medical imaging system 72 according to the present invention, wherein the medical imaging system includes a mobile examination table and a medical imaging facility in an embodiment of the present invention.

[0077] Figure 2 The examination bed in an embodiment of the present invention is shown in a stereoscopic view from below, and

[0078] Figure 3 An examination table in another embodiment is shown in a stereoscopic view from below. DETAILED DESCRIPTION

[0079] Figure 1 A medical imaging system 72 according to the present invention is shown in an embodiment. The system 72 comprises a mobile examination table 1 and a medical imaging device 71 in the form of a magnetic resonance device or a gantry thereof.

[0080] The mobile examination couch is configured or adapted for accommodating and transporting patients. The mobile examination couch includes a travel mechanism 10 having a plurality of rolling elements 12 that roll on a base during the couch's travel. At least one of the rolling elements 12 is configured to set the direction of travel for the examination couch 1. To this end, the rolling elements 12 are configured as wheels 81 with an adjustable angle between the wheel axis RA and the couch's longitudinal axis LA.

[0081] The examination bed 1 has a classic design in principle. The examination bed comprises a horizontal module, which comprises a lying plate 6 for supporting and positioning the patient. The horizontal module also comprises an input interface 5 in the form of an operating handle at the rear end of the examination bed 1. The user of the examination bed can introduce feed forces, cause a change of direction and / or cause authorization for autonomous movement via the operating handle. For this purpose, the input interface or the operating handle 5 can be particularly advantageously designed to be force-sensitive, pressure-sensitive or contact-direction-sensitive, for example by means of a plurality of capacitive sensors. Optionally, the horizontal module can also comprise a display unit 4 at or in the vicinity of the operating handle, for example for outputting warning signals to the user. The display unit 4 is designed so that the user can clearly see and observe the display unit 4 during the movement of the examination bed 1. The display unit 4 can be, for example, an LCD screen, a plasma screen or an OLED screen.

[0082] The examination bed 1 includes a travel mechanism 10 having a travel mechanism frame 11. The travel mechanism frame 11 forms a base or carrier for the examination bed 1, on which the vertical modules of the examination bed are arranged, and on which the horizontal modules are arranged one above the other. Furthermore, the travel mechanism frame 11 connects the examination bed 1 to a base, such as the floor of a treatment room. To this end, rolling elements 12 are provided on the floor at the travel mechanism frame 11, which enable the movement or travel of the examination bed 1.

[0083] The rolling element 12 comprises a follower roller 80. The follower roller is aligned corresponding to a predetermined feeding direction of the bed with respect to the longitudinal axis of the bed. The follower roller cannot be actively controlled.

[0084] At least one of the follower rollers 80 may have a braking unit 82 , which is designed to exert a friction force on the follower roller so that the following roller is hindered, slowed down, or fixed in its rolling movement.

[0085] Furthermore, at least one wheel 81 with an adjustable angle is provided on the travel mechanism frame 11. The wheel 81 with an adjustable angle is used to set the movement direction of the examination bed 1 in that the angle between the wheel axis and the longitudinal axis of the examination bed is adjustable, i.e., can be changed and fixed based on automatic and / or manual presetting.

[0086] To set the desired angle, the adjustable wheel 81 includes a first drive unit A1, which is designed to set the angle between the wheel axis and the longitudinal axis of the examination bed. The first drive unit A1 acts on the vertical axis of the wheel 81 via a drive train (not shown in detail) and is designed to rotate it together with the wheel 81 to set the angle. Furthermore, the first drive unit A1 also includes a fixing device FV, which secures the adjustable wheel 81 in the desired position.

[0087] Furthermore, the travel mechanism 10 includes a second drive unit A2, which also acts on the wheel 81 at an adjustable angle and is designed to cause the wheel to roll about its horizontal wheel axis. In other words, the second drive unit A2 acts on the wheel axis of the wheel 81 via a drive train (also not shown in detail) and is designed to drive the wheel.

[0088] The two drive units A1 , A2 are designed as electric motors. The first drive unit A1 is designed as part of the wheel 81 with an adjustable angle, while the second drive unit is designed as part of the travel mechanism 10 .

[0089] A sensor module comprising at least one sensor 3, in this case two sensors 3, is located on the travel mechanism frame 11 at the end opposite the operating handle 5, i.e., at the end of the examination bed 1. The sensor module is used to detect sensor signals, or more precisely, environmental parameters. Environmental parameters may include, in particular, information regarding the relative position of the examination bed 1 relative to the medical imaging system 71. The sensor module has a field of view encompassing the environment in front of the examination bed 1. In the illustrated embodiment, the sensor module includes two laser scanners 3, which scan the environment in front of the examination bed 1. In this embodiment, the sensors 3 are optical sensors in the form of laser scanners, one of which is located on the horizontal module and one on the travel mechanism frame 11, i.e., near the floor. However, alternative sensor types may also be used. The field of view of the sensors 3 extends to at least 1 meter and encompasses an angle of view of at least + / - 30° from the longitudinal axis of the examination bed. The sensor field of view is preferably larger. The sensors 3 can be configured to detect reference markers 7 located in the medical imaging system 71 or at any other location in the environment surrounding the examination bed 1. In particular, the reference marking can also be provided at one of the docking locations 74 or can be formed by a component thereof.

[0090] Environmental parameters detected by the sensor module and / or sensor signals corresponding to user inputs detected by the input interface 5 can be transmitted to the computer unit 2 of the examination bed 1 via an interface (not shown). Here, the computer unit 2 is arranged in the horizontal module near the display unit 4 and the operating handle 5. However, the computer unit can also be a component of the travel mechanism 10 and / or the imaging device 71. The computer unit 2 is used to evaluate the detected environmental parameters and / or user inputs and generate at least one control signal for the first drive unit A1, the second drive unit A2, and / or the brake unit 82 of one of the follower rollers 80 to predetermine the direction and / or movement speed of the examination bed 1. In short, the computer unit 2 is configured to predetermine the complete movement trajectory of the examination bed 1. User inputs, if any, can be taken into account, allowing the examination bed 1 to achieve motor-assisted travel. Alternatively, the examination bed 1 can support fully automated travel, in particular autonomous travel, based solely on the detected environmental parameters.

[0091] The computing unit 2 exchanges data with the travel mechanism 10, its individual components, the sensor module and / or the first drive unit A1 and / or the second drive unit A2 and / or the brake unit 82 via an interface. The data exchange according to the present invention is preferably carried out via a communication protocol or communication standard known per se. The interface can be configured as a hardware interface and / or a software interface. The data transmission between the two units or system components can be carried out bidirectionally or unidirectionally. For example, the computing unit 2 is configured as a so-called FPGA (abbreviation for "Field Programmable Gate Array" in English) or includes an arithmetic logic unit. The computing unit 2 can alternatively be arranged outside the examination bed 1. The interface is particularly preferably capable of optical data exchange, so that, for example, the magnetic field of the medical imaging facility 71 is not disturbed.

[0092] A docking device 31 is also provided on the travel mechanism frame 11 of the travel mechanism 10. This docking device allows the examination bed 1 to dock at a docking location 74 of an imaging device 71. The docking location 74 includes a docking mechanism 38, which interacts with a docking mechanism 36 on the docking device side. The docking location 74 and the docking device 31 together form a docking system.

[0093] The magnetic resonance device 71 also has a patient accommodating portion 73 in the form of a circular cylindrical opening, into which the bed 6 of the examination bed 1 can be at least partially moved by means of a horizontal adjustment device for image generation when the examination bed 1 is coupled to a docking location 74 of the magnetic resonance device 71 by means of the docking device 31.

[0094] Figure 2 An examination couch 1 in another embodiment is shown in a perspective view from below.

[0095] In this embodiment, the mobile examination bed 1 includes exactly one wheel 81 with an adjustable angle between the wheel axis RA and the longitudinal axis LA of the examination bed. This wheel is centrally located on the travel mechanism 10, more precisely, centrally located below the travel mechanism frame 11, and is positioned between four other rolling elements 12, each of which is positioned at the corners below the travel mechanism frame 11. Thus, in this embodiment, the examination bed 1 includes a total of five rolling elements 12.

[0096] The wheel 81, which has an adjustable angle, comprises a wheel platform RP, by means of which the wheel is mounted on the travel mechanism frame 11. Rolling bodies RK, in the form of rubber rollers, roll the wheel 81 on a base. The wheel 81 is steerable in the sense that its adjustment angle, i.e., the angle between the wheel axis RA and the longitudinal axis LA of the examination bed, is variable and adjustable. The wheel is fastened to the wheel platform 11 via a rotary joint that can be controlled by means of a first drive unit A1. The rotary joint is designed to rotate the rolling body RK about a vertical axis VA. The rotary joint can be motor-adjusted by means of the first drive unit A1 to position the rolling body RK in a desired angular position between the wheel axis RA and the longitudinal axis LA of the examination bed, specifically corresponding to the movement trajectory. The rolling body RK is secured or locked in the desired angular position by means of a fixing device FV, which can be a component of the first drive unit A1. The first drive unit A1 is designed to receive and convert control signals from the computing unit 2. The first drive unit A1 is designed in particular to repeatedly adjust the adjustment angle of the additional wheel 50 during the movement of the examination bed 1 into the docking position.

[0097] All four corner rolling elements 12 are designed as passive follower rollers 80, each oriented with its wheel axis according to a direction specified by a wheel 81 having an adjustable angle. It is particularly advantageous that the rolling elements can be positioned independently of each other, for example, depending on a predetermined curve radius, depending on whether they are arranged on the longitudinal side of the examination bed 1 facing the curve or on the side of the examination bed 1 facing away from the curve. The two follower rollers 80 arranged on the side of the examination bed 1 facing away from the docking device 31 each include a brake unit 82, which can be used to determine or brake the rolling motion of the two follower rollers based on control signals from the computing unit 2, in order to support movement in a specific direction or to simplify or accelerate a predetermined change of direction.

[0098] Figure 3 Another embodiment of the examination bed 1 according to the present invention is shown in a perspective view from below.

[0099] In this embodiment variant, the mobile examination bed 1 comprises exactly two wheels 81 with adjustable angles. However, the wheels are not arranged centrally below the travel mechanism frame 11, but are respectively arranged on one of the two longitudinal sides of the travel mechanism 10. Thus, the wheels respectively replace the wheels according to Figure 2 The wheels 81 are arranged at opposite corners of the travel mechanism 10, i.e. connected to each other via a diagonal line extending through the midpoint of the travel mechanism 10. Each of the two wheels 81 with adjustable angles is as described with reference to FIG. Figure 1 or Figure 2The wheels 81 are constructed similarly to the wheels already described. Thus, each of the two wheels 81 includes a first drive unit A1, a second drive unit A2, and so on. The diagonally opposed arrangement of the wheels 81 advantageously ensures that, even when the examination bed 1 is positioned with its longitudinal side, for example, close to a wall, the examination bed 1 can be advanced substantially away from the wall, "from the rear," similar to a rear-wheel drive, using the second drive unit A2.

[0100] In this embodiment, the mobile examination couch 1 therefore comprises exactly four rolling elements 12 , which are each arranged at a corner of the travel mechanism 10 or at a corner below the travel mechanism frame 11 .

[0101] With regard to the follower rollers 80 which are arranged diagonally opposite and at the corners on the travel frame 11 , what has already been said with reference to the previous figures applies.

[0102] Although the details of the present invention have been described in detail through preferred embodiments, the present invention is not limited to the embodiments, and those skilled in the art can deduce other variations therefrom without departing from the scope of protection of the present invention.

[0103] Regardless of the grammatical part of speech of a particular term, people with either male or female gender identity are included.

Claims

1. A mobile examination bed (1), the mobile examination bed (1) being configured to accommodate and transport a patient, the mobile examination bed (1) comprising: A travel mechanism (10), the travel mechanism (10) having a plurality of rolling elements (12), the rolling elements (12) rolling on a base during the travel movement of the examination bed (1), It is characterized by: At least one of the rolling elements (12) is designed as a wheel (81) having an adjustable angle between a wheel axis (RA) and a longitudinal axis (LA) of the examination bed in order to set a travel direction for the examination bed (1).

2. The mobile examination bed (1) according to claim 1, The examination bed (1) comprises exactly one wheel (81) with an adjustable angle.

3. The mobile examination bed (1) according to claim 2, The wheel (81) with an adjustable angle is arranged centrally on the travel mechanism (10).

4. The mobile examination bed (1) according to claim 2 or 3, The examination bed (1) comprises five rolling elements (12) in total.

5. The mobile examination bed (1) according to claim 1, The examination bed comprises exactly two wheels (81) with adjustable angles.

6. The mobile examination bed (1) according to claim 5, The two wheels (81) with an adjustable angle are respectively arranged on one of the two longitudinal sides of the travel mechanism (10).

7. The mobile examination bed (1) according to claim 5 or 6, The two wheels (81) are respectively arranged at diagonally opposite corners of the travel mechanism (10).

8. The mobile examination bed (1) according to claim 5 or 6, The mobile examination bed (1) has four rolling elements (12), wherein the four rolling elements (12) are respectively arranged at a corner of the travel mechanism (10).

9. The mobile examination bed (1) according to any one of claims 1 to 3, The remaining rolling elements (12) are designed as passive follower rollers (80), wherein at least one of the follower rollers (80) comprises a braking unit (82) for fixing or braking the follower roller (80).

10. The mobile examination bed (1) according to claim 9, At least one of the wheels (81) having an adjustable angle comprises a first drive unit (A1) configured to rotate the at least one wheel (81) about a vertical axis (VA) for adjusting the angle.

11. The mobile examination bed (1) according to claim 10, The travel mechanism (10) includes a second drive unit (A2), which is configured to drive the wheel (81) having a settable angle to rotate around the wheel axis (RA).

12. The mobile examination bed (1) according to claim 11, The mobile examination bed (1) includes a computing unit (2), which is configured to generate a control signal for the first drive unit (A1) to set the angle at the wheel (81), generate a control signal for the second drive unit (A2) to generate the feed of the wheel (81), and / or generate a control signal for a braking unit (82) of at least one of the follower rollers (80).

13. The mobile examination bed (1) according to claim 12, The mobile examination bed (1) further comprises a sensor module having at least one environmental sensor (3) for detecting at least one environmental parameter, wherein the computing unit (2) is configured to generate at least one control signal based on the at least one environmental parameter.

14. The mobile examination bed (1) according to claim 12, The mobile examination bed (1) further comprises an input interface (5) for detecting at least one user input, wherein the computing unit (2) is configured to generate at least one control signal based on the at least one user input.

15. A medical imaging system (72), It is characterized by: The medical imaging system (72) comprises a mobile examination bed (1) according to any one of claims 1 to 14 and a medical imaging device (71).

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