Transport device for a patient

Abstract

Transport device for a patient, comprehensive - a patient bed (2) mounted on a plurality of wheels (3), - a drive unit (5) for adjusting the position of at least one wheel (3) of the plurality of wheels (3), and - a control unit (7) for controlling the drive unit (5) according to control information, which has a storage unit (8) in which path information characterizing at least one transport path (T) to be traveled by the transport device (1) can be stored, from which the control information can be derived, characterized in that the wheel position and / or the wheel rotations of the at least one wheel (3) can be detected by means of at least one sensor (6) and a path detection system is designed to at least partially derive the path information from the data detected by the at least one sensor (6) and to store it in the storage unit (8).

Description

[0001] The invention relates to a transport device for a patient, comprising a patient bed mounted on a plurality of wheels, a drive unit for adjusting the position of at least one wheel of the plurality of wheels, and a control unit for controlling the drive unit according to control information.

[0002] Mobile transport systems are known from the prior art, designed to move patients between different rooms in a hospital, for example, between a patient room and a treatment room. For diagnosis or treatment, patients typically need to be transferred or moved into a tunnel-like patient entry area, particularly for magnetic resonance imaging (MRI) scanners. It goes without saying that these processes should be as quick and comfortable as possible for the patient; however, numerous problems arise in practice. For example, transferring patients from an operating table to a mobile patient stretcher is problematic due to the hygiene requirements of the operation. Furthermore, during surgery, the patient is typically connected to a variety of medical devices, which complicates the transfer.

[0003] On the other hand, from a medical perspective, it is particularly desirable to identify ways in which surgical procedures can be supported by information obtained in a timely manner through imaging techniques. Magnetic resonance imaging (MRI) is especially suitable for this purpose, as its excellent tissue contrast makes it particularly well-suited to providing valuable information for the resection or ablation of tumors.

[0004] One proposal was to equip transport systems with patient stretchers designed for docking with magnetic resonance imaging (MRI) scanners. Since such transport systems are typically quite heavy to maneuver due to their weight (approximately 250 kg plus the patient's weight), German patent application DE 10 2013 208 610 A1 proposed a further development to automatically control the wheel position of the patient stretcher's wheels during docking using a control unit and a drive unit connected to it that changes the wheel position. This significantly reduces the force required for correct alignment, particularly with manually adjustable transport systems.

[0005] The distance, direction, and / or movement information relevant for control is continuously captured, for example, by cameras. Fixed markers, continuously monitored by these optical sensors, are used to define the path the transport device must take to the docking position.

[0006] In addition, transport devices are known from the American patent application US 2011 / 0 154 569 A1 and the German patent applications DE 10 2013 208 610 A1 and DE 10 2014 202 033 A1.

[0007] Based on this state of the art, the task is to further simplify the transport of patients.

[0008] This problem is solved according to the invention by a transport device of the type mentioned at the outset with the characterizing features of claim 1. Advantageous embodiments of the invention are the subject of the dependent claims.

[0009] The transport device for a patient as defined in claim 1 comprises - a patient bed mounted on multiple wheels, - a drive unit for adjusting the position of at least one wheel of a plurality of wheels, and - A control unit for controlling the drive unit according to control information. According to the invention, the control unit has a storage unit in which path information characterizing at least one transport path to be traveled by the transport device can be stored, from which the control information can be derived.

[0010] Particularly for monitoring the progress or success of an operation, the patient typically needs to be transported from an operating room to an examination room containing medical imaging equipment. It has been recognized that it is advantageous to store the route information characterizing the transport path on the transport device itself. The transport device according to the invention thus has a function that can be recalled as needed, which automatically adjusts at least the wheel position to the transport path while the transport device is moving along it. In particular, no additional modifications to the premises in the form of optical markers or similar are necessary for this.Furthermore, the sensor technology provided by the transport system can be simplified, since in principle no continuous acquisition of environmental information, for example for the detection of optical markings, is necessary.

[0011] According to the invention, the wheel position and / or the wheel rotations of at least one wheel can be detected by means of at least one sensor. Furthermore, according to the invention, a path detection system is provided which is configured to derive the path information at least partially from the data acquired by the sensor and to store it in the memory unit. Such a transport system enables particularly user-friendly programming of path information characterizing various transport routes. Essentially, the transport device can learn the transport route to be traveled automatically: For this purpose, it is only necessary to guide the transport device once along the transport route while a recording function of the path detection system is activated. When the recording function is activated, the path information is derived at least partially from the data acquired by the at least one sensor.The term "at least partially derived" in this context means that additional information, such as that collected by optional environmental sensors, can potentially be taken into account. The path information derived from the wheel position and / or wheel rotations is stored in the memory unit and can then be retrieved at any time to generate appropriate control signals for the correct steering of the transport device.

[0012] At least one sensor in the path detection system is preferably a rotary encoder. Such sensors are particularly robust, ensuring that the relevant path information can be reliably recorded.

[0013] It has been found that the support provided to the operating personnel of the transport device, through the automatic control of the wheel position along the transport route, is particularly suitable for longer distances. In particular, the intended transport routes are longer than the distances typically encountered only during the docking process with a medical imaging device. The transport route is preferably longer than 2 meters, and particularly preferably longer than 5 meters, and can especially include transport between at least two different rooms, for example, between a patient room, an operating room, and / or an examination room of a medical facility.

[0014] It is particularly advantageous to be able to store multiple, different transport route information pieces in the storage unit. In other words, it is intended to digitally store route information corresponding to different transport routes.

[0015] In a further development of the invention, additional sensors for acquiring position and / or environmental data are provided, which are operatively connected to the control unit as part of the path detection system and / or as part of an assistance system supporting the control of the transport device. Position data is defined as data that allows conclusions to be drawn about the current position of the transport device, particularly within or near the medical facility or hospital. Environmental data, as defined in this specification, is information relating to the immediate surroundings of the transport device. For example, the distance and orientation of the transport device with respect to a docking position at the medical imaging device are classified as environmental data.Other environmental data includes, for example, obstacles such as objects or people that may occur temporarily, particularly along the transport route. Preferably, the sensors used to acquire this environmental information are designed to continuously or at least regularly at short intervals monitor the environment of the transport system. These sensors can be integrated with the control unit as part of the assistance system, enabling automatic intervention when an obstacle is detected. This intervention could, for example, involve automatically changing the wheel position and / or initiating automatic braking.

[0016] The additional sensors used to determine position and environmental data preferably include at least one accelerometer, one ultrasonic sensor, one RFID transponder, one infrared camera, and / or one optical camera. The data acquired by the accelerometers allows conclusions to be drawn about the position of the transport device, particularly when it is moved along a known transport path stored in the memory unit. RFID transponders or RFID receivers and RFID transmitters are also suitable for providing data for precise positioning of the transport device. Such systems are well-known, especially in the logistics sector, for locating objects and require components that are permanently installed.This could, for example, be several RFID transponders that modulate and reflect back a high-frequency alternating field emitted by an RFID transmitter provided by the transport device.

[0017] In a further development of the invention, a patient transport system is proposed which includes the transport device described above. For localizing the transport device, a transmitter / receiver arrangement based on RFID technology is provided, which is at least partially permanently installed. Variations of the configuration described above are possible with regard to the arrangement of the RFID transmitters, RFID receivers, and / or RFID transponders. For example, the RFID transmitter can also be permanently installed, and an RFID receiver and / or RFID transponder can be integrated into the transport device. In particular, the RFID receiver and RFID transmitter can also be located in the same place and integrated into the same device.

[0018] Ultrasonic sensors, which can be used as distance sensors, for example, or optical cameras are particularly suitable for the continuous recording of environmental data.

[0019] The patient table is preferably designed for docking to the medical imaging device and is, for example, height-adjustable for this purpose. Furthermore, the transport device and / or the imaging device, which may be, for example, a magnetic resonance imaging (MRI) scanner, may have a mechanical interface that provides a mechanical locking mechanism for the patient table relative to the imaging device. The docking process is crucial, as it typically requires the connection of mechanical and electrical elements. This necessitates that the transport device, which typically weighs around 250 kg empty, be precisely aligned with the medical imaging device. A tolerance range of approximately + / -10° is generally permitted; deviations from this range can damage the transport device and / or the imaging device.

[0020] However, the area between the imaging device and the transport device is difficult for the operator to see during the docking process. Therefore, a display device, such as a flat screen, is preferably provided, on which the front area of ​​the transport device, as detected by the optional additional sensor, is shown, if necessary, in an abstract form. The display device thus shows a kind of "virtual docking station" to simplify the docking process.

[0021] The transport device described above is preferably guided manually by the operator along the transport path, with the wheel position being controlled automatically based on the stored path information. In a further development of the invention, it is provided that the transport device is designed to be self-propelled, i.e., at least one motor is provided to drive the wheels. In self-propelled transport devices, speed profiles are preferably assigned to the transport path to be traveled. The automatic movement of the transport device along the transport path occurs at variable speeds in sections, according to the activated speed profile. In particular, the movement of the transport device occurs at a reduced speed in curves and / or when docking with the imaging device.

[0022] An important aspect of the present invention relates to the programming of the transport device described above for a patient. Using the at least one sensor that detects the wheel position and / or wheel rotations, the transport device can be programmed by guiding it along a transport path while the recording function is activated. The at least one sensor detects the wheel position and / or wheel rotations of the at least one wheel. The path detection system automatically derives at least part of the path information characterizing the transport route from the acquired data and stores it in the memory unit. In other words, the transport device can independently learn the transport route and / or the path information characterizing it. Position data acquired by the optional additional sensors can be used to fully acquire the path information.

[0023] To program the transport device, it is moved, for example, between two rooms, such as an operating room and an examination room of the medical facility. The distance traveled defines the transport path, which preferably has a length of at least 2 meters, and more preferably at least 5 meters.

[0024] The transport route preferably begins or ends at a location suitable for docking with the medical imaging device. It is also possible for the transport route to connect two such locations, for example, from a docking position of one imaging device to a docking position of a second. Docking with such imaging devices is particularly time-consuming for the operating personnel, so in such situations, computer-aided control of the transport device significantly simplifies the process.

[0025] The medical imaging device is preferably designed as a magnetic resonance imaging (MRI) scanner. In other embodiments, the imaging device is an X-ray device, in particular a C-arm, or a computed tomography (CT) scanner.

[0026] For a further description of the invention, reference is made to the exemplary embodiment shown in the drawings. These show a schematic diagram of the principle: Fig. 1: schematically a transport device according to the invention; Fig. 2: the movement of the transport equipment along a transport route connecting two rooms of a medical facility.

[0027] Corresponding parts are marked with the same reference symbols in all figures.

[0028] Fig. Figure 1 shows a transport device 1 for a patient. The transport device has, in a manner known per se, a height-adjustable patient stretcher 2 which is attached to a base 4 which is mounted on several wheels 3.

[0029] The wheel position of at least one of the wheels 3 is adjustable by means of a drive unit 5, which is located in Fig. 1 is symbolically represented by two gears. It is understood that this representation is to be interpreted schematically, since such components are typically concealed by a cover of the transport device 1.

[0030] A sensor 6, designed as a rotary encoder, can detect the wheel position of at least one wheel 3, which is adjustable by the drive unit 5. The sensor 6 is operatively connected to a control unit 7, which sends control signals to the drive unit 5 to specify suitable wheel positions. Another sensor, not shown in detail, detects the wheel rotations of the at least one wheel and thus provides measurement data that correlates with the distance traveled by the transport device 1.

[0031] The control device 7 further comprises a storage unit 8 on which path information is stored, characterizing at least one transport path T to be traveled by the transport device 1. One possible transport path T is exemplified in Fig. Figure 2 illustrates this. Control information can be derived from this path information, according to which the control unit 7 generates control signals that cause corresponding wheel positions, so that the transport device 1 is automatically steered while it is manually guided along the transport path T. The path information stored on the memory unit 8 is therefore crucial for the control information; continuous evaluation of sensor-acquired data is not necessary to guide the transport device 1 along the programmed transport path T.

[0032] For moving the transport device 1, handle elements 9 are provided on each end face. A further sensor 10, designed as an optical camera and part of an assistance system, is arranged on the front end face to detect obstacles in the front area. If an obstacle is detected, an automatic positioning intervention can occur. For this purpose, the further sensor 10 is connected to the control unit 7, which is equipped with appropriate electronics for evaluating the environmental data.

[0033] The transport device 1 further comprises, in a manner not shown in detail, an RFID-based transmitter / receiver arrangement that communicates with permanently installed RFID transponders (13). The transport device 1, together with the permanently installed components of the transmitter / receiver arrangement, forms a patient transport system equipped for position tracking. Information regarding the position of the transport device 1 within the medical facility is available from the transport device 1 in the form of position data.

[0034] A user interface 11 is provided for activating the various functions of the transport device 1. In particular, a recording function can be activated via the user interface 11 to program a new transport path T or the corresponding path information into the transport device 1. After activation of the recording function, the transport device 1 must be, as described in Fig. 2 is only sketched once along the transport path T, which is guided manually. At least one sensor 6, as part of a path detection system, records the user's steering inputs via the wheel position. Based on this data, the path information corresponding to the transport path T is derived and stored in the memory unit 8. This path information is then available on demand, allowing a corresponding automatic steering function to be activated as needed. The transport device 1 then takes over the steering function independently by controlling the wheel position. This reduces the force required by the operator to move the transport device.

[0035] Furthermore, the user interface 11 includes a display unit on which the area detected by the additional sensor 10 is schematically represented. This facilitates the correct positioning of the transport device 1 when docking to an imaging device, in particular a magnetic resonance tomograph.

[0036] The in Fig. Two exemplary transport pathways T connect two examination rooms, each containing medical imaging equipment 12. Transport pathway T leads, in particular, from an imaging device 12 designed for angiography to a docking position of a magnetic resonance imaging (MRI) scanner. The patient table 2 of the transport device 1 has a mechanical interface to the docking area of ​​the imaging device 12, which is designed as a MRI scanner, so that the patient can be easily placed into a patient reception area (not shown in detail).

[0037] The position data is taken into account when the automatic steering function is activated. Based on this position data, the control information required to safely guide the transport device 1 along the remaining portion of the transport path T can be derived. This allows the steering function to be activated at any point along the transport path T. The control unit incorporates appropriately designed electronics or an evaluation unit to analyze the environmental and / or position data and / or to derive the control information from this data and / or from the path information.

[0038] Although the invention has been illustrated and described in detail by the preferred embodiment, the invention is not limited by the embodiments shown in the figures. Other variations and combinations can be derived by a person skilled in the art without departing from the scope of protection of the invention.

Claims

[1] Transport device for a patient, comprising - a patient bed (2) mounted on a plurality of wheels (3), - a drive unit (5) for adjusting the position of at least one wheel (3) of the plurality of wheels (3), and - a control unit (7) for controlling the drive unit (5) according to control information, which has a storage unit (8) in which at least one transport path (T) to be traveled by the transport device (1) can be stored, from which the control information can be derived, characterized by , that the wheel position and / or the wheel rotations of the at least one wheel (3) can be detected by means of at least one sensor (6) and a path detection system is designed to derive the path information at least partially from the data detected by the at least one sensor (6) and to store it in the storage unit (8). [2] Transport device according to claim 1, characterized by that the transport route (T) to be traveled is longer than 2 meters, in particular longer than 5 meters, and in particular connects at least two different rooms of a medical facility. [3] Transport device according to one of the preceding claims, characterized by , that several different transport routes (T) characterizing route information can be stored in the storage unit (8). [4] Transport device according to one of the preceding claims, characterized by , that further sensors (10) are provided for capturing position and / or environment data, which are in operative communication with the control unit (7) as part of the path detection system and / or as part of an assistance system supporting the control of the transport device. [5] Transport device according to claim 4, characterized by, that the additional sensors (10) include at least an accelerometer, an ultrasonic sensor, an RFID transponder and / or a camera. [6] Transport device according to one of the preceding claims, characterized by , that the patient bed (2) is designed to dock to a medical imaging device (12). [7] Method for programming a transport device (1) according to any one of claims 1 to 6, characterized by , that the transport device (1) is guided along a transport path (T), wherein at least one sensor (6) detects the wheel position and / or the wheel rotations of at least one wheel of the transport device (1) and a path detection system derives path information characterizing the transport path (T) at least partially from the data detected by the at least one sensor (6) and stores it in a storage unit (8). [8] Method for programming a transport device according to claim 7, characterized by that the length of the transport path (T) over which the transport device is guided is at least 2 meters, in particular more than 5 meters. [9] Method for programming a transport device according to claim 7 or 8 characterized by that the transport route (T) connects at least two rooms of a medical facility. [10] Method for programming a transport device according to any one of claims 7 to 9, characterized by , that the transport route (T) begins and / or ends at a location suitable for docking to a medical imaging device (12). [11] Method for programming a transport device according to claim 10, characterized by , that the medical imaging device (12) is designed as a magnetic resonance imaging scanner or as an X-ray device, in particular as a C-arm or as a computed tomography device. [12] Method for programming a transport device according to any one of claims 7 to 11, characterized by , that route information characterizing different transport routes (T) is stored in the storage unit (8). [13] Patient transport system with a transport device according to any one of the preceding claims 1 to 6, characterized by , that a transmitter / receiver arrangement designed for localizing the transport equipment and based on RFID technology is provided, which is at least partially permanently installed.

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