User-guided semi-automatic navigation of a mobile medical device

Abstract

A mobile medical device (1) can be moved on a floor (3) within a building (9) by means of a chassis (2). The movement of the device (1) can be effected or at least assisted by at least one drive (5). The direction of travel of the movement can be varied by means of a direction influencing device (7). Both the drive (5) and the direction influencing device (7) can be controlled by a control device (12). The control device (12) knows the end stations (10) and the paths (11) leading to the end stations (10), as well as a current position (p) of the device (1). The control device (12) receives a travel request (FA) from an operator (15) and, using the travel request (FA), determines at least an approximate desired direction of the travel movement. The control device (12) only controls the drive (5) as long as it receives the travel request (FA).The control device (12) controls the direction-influencing device (7) in addition to the drive (5), so that the device (1) is moved along one of the paths (11) when it receives the travel request (FA) and the current position (p) of the device (1) is at least approximately on this path (11). Furthermore, the control device (12) continuously updates the current position (p) of the device (1) during the travel movement.

Description

The present invention is based on an operating method for a mobile medical device, having a chassis, by means of which the device can be moved on a ground within a building, having at least one drive, by means of which a travel movement of the device can be effected or at least supported, and having a control device, by means of which the drive can be controlled,wherein the control device receives a travel request from an operator,wherein the control device determines an at least approximate desired direction of the travel movement while utilizing the travel request,wherein the control device only controls the drive as long as it accepts the driving request.The present invention is furthermore based on a control program for a control device of a mobile medical device, which has a chassis, by means of which the device can be moved on a ground within a building, and at least one drive, by means of which a travel movement of the device can be effected or at least supported, wherein the control program comprises machine code which can be processed by the control device, wherein the processing of the machine code by the control device causes the control device to execute such an operating method.The present invention is furthermore based on a control device of a mobile medical device, which has a chassis, by means of which the device can be moved on a ground within a building, and at least one drive, by means of which a travel movement of the device can be effected or at least supported, wherein the control device is programmed with such a control program, so that the control device carries out such an operating method during operation.The present invention is furthermore based on a mobile medical device,wherein the device has a chassis, by means of which the device can be moved on a ground within a building,wherein the device has at least one drive, by means of which a travel movement of the device can be effected or at least supported,wherein the apparatus has a control device by which the drive can be controlled,wherein the control device is designed as such a control device.Such an operating method is realized, for example, by the mobile head CT scanner. A patient couch, as used, for example, in a magnetic resonance apparatus, can also implement such an operating method. The further objects mentioned above are also realized by the mentioned mobile head CT scanner and the mentioned patient couch.Mobile medical devices are manually moved between different diagnostic and treatment stations by operators in the prior art. If large devices are involved, the devices are often so large and heavy that motor support is required for the movement. Nevertheless, and in part even therefore, the handling for the operators is not easy. This is especially true when the operators are still relatively inexperienced. Especially in the case of obstacles in hospital corridors or bottleneck locations such as doors, proper navigation presents a great challenge for the operator. The same also applies if, for example, a corridor has a corner.In logistics environment, for example in factories, industrial stores and logistics centers, mobile devices are used which navigate autonomously. These devices travel fully automatically along appropriately programmed paths.In the medical environment, such autonomous, automatic navigation of mobile medical devices is difficult to implement. Initially, the environment is very restricted. Furthermore, it is often also irregularly frequented by patients and other persons. Patients could feel comfortable with such autonomous driving systems. Furthermore, the technical and normative outlay for functionally safe operation of a fully autonomously driving mobile medical device (in particular in the sense of ISO 14791) is associated with unacceptably high costs and restrictions.The publication US 2022 / 0 240 878 A1 discloses an en mobile medical device, in particular a mobile C-arm X-ray device, having a motor-assisted movable device carriage which can be operated in at least two movement modes. It comprises at least one grip element, which is provided for handling by a human hand, and at least one sensor, which is arranged on the grip element or in the immediate vicinity thereof and acquires measurement data relating to the type and / or position of the grip. An evaluation unit analyzes these data and assigns a corresponding movement mode, which is automatically set by a control unit.The document DE 10 2016 204 618 A relates to a mobile imaging device having a movably mounted detection device for examining a patient and a drive unit for adjusting at least one degree of freedom of movement. A control unit controls the drive unit on the basis of control information which is generated from a movement profile stored or storable in the memory module. In addition, a method for operating such an imaging device will be described.The publication US 2012 / 0 155 616 A1 describes a motor-assisted movement and mobile X-ray systems having at least one bidirectional wheel. Positioning heavy objects in narrow spaces with high precision may be cumbersome. Therefore, a motor-assisted movement unit with at least one bidirectional wheel and an associated motor arrangement is presented. The moving unit may move on a surface, wherein the wheel rolls in at least two non-parallel directions. In addition, the unit can detect a desired movement and the motor arrangement supports the movement according to this specification.The object of the present invention is to provide possibilities by means of which the operating comfort and above all the reliability in the movement of the mobile medical device can be increased without having to accept the outlay and the disadvantages of a completely autonomously driving system.The object is achieved by an operating method having the features of claim 1 and / or 2. Advantageous embodiments of the operating method are the subject of the dependent claims.According to the invention, it is first necessary for the mobile medical device to additionally have a direction influencing device, by means of which the direction of travel of the travel movement can be varied, and for the direction influencing device likewise to be controlled by the control device. Furthermore, an operating method of the type mentioned at the beginning is thereby configured,knowing a number of end stations and paths leading to the end stations to the control device,the control device knowing a current position of the device,the control device, when it receives the travel request and the current position of the device is at least approximately on one of the paths, controls the direction influencing device in addition to the drive, so that the device is moved on the path in question, andthe control device continuously updates the current position of the device during the travel movement.Thus, on the one hand, the responsibility of the operator is easily maintained. This is because only when the control device accepts the travel request (e.g., from the operator) does the control device control the drive. Without the travel request, the mobile medical device is moved (at least not by the control device). Nevertheless, the path along which the device is to be moved on account of the travel request can be known to the control device and can thus be observed by the control device. The operator is thus relieved of the precise control (navigation) of the device and has to intervene practically only in cases when a simple movement along the path is not desired (for example because a person is located there).The medical device can be, for example, a diagnostic or therapy device. However, it can also be a patient couch or a hospital bed or the like.The exact configuration of the drive and the direction influencing device can be as required. In the simplest case, the drive acts on an axle having one or two wheels and the direction influencing device is designed as a conventional steering system. However, other configurations are also possible, for example as so-called mecanum kinematics. It is also possible for a plurality of wheels to be individually steerable and individually driven, so that, depending on the position and drive of the wheels-for example-straight travel, cornering and also turning on the spot is possible.The specification of the driving request can be carried out in virtually any desired manner. The simplest is to use a travel button on a handle of the device. It is also possible to use a power handle, i.e. a handle, which can detect forces exerted on the handle by the operator. A force toward the front - starting from the current orientation - specifies the direction of travel "forward", a force toward the rear specifies the direction of travel "rearward". However, it is decisive that the driving request is not only predefined once, but is also retained. The control device therefore only controls the drive as long as the driving request is pending, and the specification of the driving request takes place, as seen from its functionality, as the actuation of a button.The specification of the travel request in some cases only leads to the specification of an approximate desired direction because, similarly to a motor vehicle, although the travel request specifies that the mobile medical device is to be moved forwards (possibly forwards or backwards depending on the travel request), the exact direction of travel (and also its change) is not specified by the operator until during the travel movement.As a rule, the number of end stations is greater than 1. in this case the paths usually lead from end station to end station. The totality of end stations and associated paths will also be referred to below in part as a map of the building.The manner in which the control device knows the current position of the device can likewise be as required. For example, the device can be positioned at a defined position in a defined orientation from time to time (for example once a day or in each case at the beginning of a working shift), wherein this position and this orientation are known to the control device, such that this position and this orientation can be used as reference values. In the following, the orientation can then be updated by evaluating the signals from acceleration sensors and the position can be updated by the rolling movement of at least one wheel of the chassis (driven or not) in conjunction with the respective orientation. Other possibilities are also available. For example, cameras can be installed in the building, which capture the mobile medical device permanently or at least from time to time, so that the position and the orientation of the mobile medical device can be determined on the basis of these capture. The detections themselves or the position and the orientation can then be transmitted to the control device.In some cases, the apparatus is moved exclusively on the paths to the end stations. In this case, the current position of the device is at least approximately in one of the paths. In other cases, the device may also be located at positions that are not in one of the paths. In this case, the control device, when it is given a travel request, does indeed drive the drive, so that the travel movement as such is effected or at least supported. In this case, on the other hand, the direction influencing device is not controlled by the control device. However, the direction influencing device can be released by the control device in so far as the operator allows the medical device to be steered and rotated. However, the (active) control of the direction influencing device is (at least generally) recorded as soon as the current position of the device reaches one of the paths.If the current position of the device is at least approximately on one of the paths, the control device usually controls the direction influencing device such that the device remains on the corresponding path. This applies regardless of whether the corresponding path is straight or has curves. Exceptions to remaining on the corresponding path apply only in corresponding active interventions by the operator.The phrase "at least approximately is located on one of the paths" was chosen because, for example, if the device is moved parallel to one of the paths at a short distance from this path, it is possible to intervene in a corrective manner, for example, in order to influence the movement of movement such that the device is gradually brought exactly onto the corresponding path.Preferably, the control device evaluates an effect on a first grip of the device in a horizontal preferred direction with a force above a first minimum force as a driving requirement in the horizontal preferred direction. This procedure is particularly intuitive for the operator. This is because the operator would also proceed precisely in this way if the drive were not present.A handle is an element of the device which, on the one hand, is mechanically stable per se and mechanically connected with sufficient stability to the remaining part of the device and, on the other hand, can detect a force effect at least in the horizontal preferred direction. The detection of the force effect can be detected quantitatively, for example, by load cells. It is also possible for the first power grip to have spring-loaded push buttons, the spring force of which defines the minimum force, which is low or even greater. Depending on the configuration of the force handle, it may be possible to detect only a force effect in the preferred direction or additionally also opposite to the preferred direction. In the latter case, the control device can distinguish between a forward drive request and a reverse drive request.Of course, changes in direction initiated by the operator are also possible. For example, the medical device may have a steering arm similar to a bicycle or motorcycle or a steering wheel similar to a car. Other possibilities for presetting a change of direction are also provided. Preferably, however, the control device evaluates an action on the first handle in a horizontal transverse direction orthogonal to the preferred horizontal direction with a force above a second minimum force as a requirement for a change in direction of the travel movement and controls the direction influencing device accordingly. Here too, this type of specification is particularly intuitive. This is because the operator would also proceed precisely if the direction influencing device were not present or were not controlled by the control device.Such a change in direction initiated by the operator can, for example, have the effect, within the scope of the present invention, that at an intersection or path bifurcation, it is selected on which path the further travel movement is to be continued. It can also cause an existing path to be exited. It can also have the effect that when it hits a path it is selected whether to bend to the left or to the right onto the path.In an alternative configuration, which is nevertheless similar to the user, it is possible to provide a switch,the control device evaluates a similar action on a first and the second handle of the device, which are spaced apart from one another horizontally viewed orthogonally to a horizontal preferred direction, in the horizontal preferred direction with a first and a second force above a first minimum force as a travel request in the horizontal preferred direction, andthe control device evaluates an unequal action on the first and the second handles in the horizontal preferred direction, wherein the first or the second force is above the first minimum force, as a request for a change in direction of the driving movement and controls the direction influencing device accordingly.The same sign means the same sign (i.e. either both times in the preferred direction or both times counter to the preferred direction, but not even in the preferred direction and once counter to the preferred direction) and approximately the same magnitude. The extent to which the magnitudes of the two forces may differ, to nevertheless be considered substantially the same, may be set as desired.The evaluation of a dissimilar effect as a request for a change in direction of the travel movement can be effected independently of whether or not the current position of the device is at least approximately in one of the paths. If the current position of the device is at least approximately in one of the paths, the request can be used, for example, to leave the corresponding path. In the case of a path bifurcation or an intersection, the request can be used to determine which of the paths of the path bifurcation or intersection should be used. In the case of an impact on one of the paths, the requirement can be used to determine which side is to be bent into the path.Expressed simply: If the operator pushes or pulls on both power handles, the drive is actuated forwards or backwards in accordance with a drive request. If the operator pushes or pulls only one of the two power handles, a change of direction is also initiated in addition to a forward or rearward movement. The same can apply if the operator pushes one of the two power handles and pulls the other power handle.If the device impinges on a path at an angle (initially any), then a change of direction by exactly this angle must take place in order to continue the travel movement on the path in the one direction. To continue the travel movement on the same path in the opposite direction, a change in direction of 180° minus this angle is required. It is possible that the decision to continue the travel movement in one direction or in the other is always predefined by an operator. The specification can be, in particular, a force effect as has already been explained above.According to a second aspect of the invention, when the device strikes a path at an angle which is at most as large as an acute critical angle during the movement, the control device automatically determines in which direction it moves the device on this path. This approach facilitates navigation.This is because, if the angle is smaller than the acute critical angle, a change in direction by at most the acute critical angle must take place in order to continue the travel movement on the path in the one direction, while a change in direction by at least 180° minus the acute critical angle is required in order to continue the travel movement on the same path in the opposite direction. For a continuation of the travel movement in the one direction, therefore, a (usually clearly) smaller change in direction is required than for a continuation of the travel movement in the opposite direction. This can thus be evaluated by the control device to the effect that, if it does not accept an opposite specification from the operator, it itself decides in which direction the further travel movement should take place. A specification by the operator can therefore be unnecessary in such cases.The closer the angle at which the device impinges on the path is 90°, the smaller the differences between a deflection in one direction or the other. In this case, the decision must be made elsewhere, for example by direct or indirect input by an operator. Therefore, the critical angle must be an acute angle. The sharp critical angle can be, for example, 60° or 70° or 75°.Preferably, in the case of a path bifurcation, if a request for a change in direction fails to exist, the control device automatically selects, as a further path behind the path bifurcation, the path whose travel is associated with the smallest change in direction. As a result, in many cases, the explicit acceptance of a request for a change in direction is only necessary if the control device is either provided with two paths which are connected to identical or almost identical changes in direction to the left and right, or a path other than the path leading more or less straight ahead is to be traveled on.The term "bifurcation away" is to be understood broadly in this context. It is intended to include both a "true", more or less Y-shaped path bifurcation and a branch (one path continues straight ahead, one path branches off), as well as a junction (two paths branch to the left and right), as well as an intersection and also any other node from which at least three paths originate.This property can be utilized by the control device, for example, to the effect that the control device always travels straight at an intersection or branch, or selects the path with the smallest change in direction, when the speed of the travel movement is above a threshold value. If necessary, a multistage adaptation of the limitation of the speed of change for a change in direction of the travel movement can also be effected as a function of the speed of the travel movement. In this case, the change in direction of the travel movement at higher speeds is limited to smaller values.It is pointed out that the limitation of the change in direction of the travel movement does not mean that a change in direction of the travel movement always and necessarily takes place. It is merely intended to mean that any change in direction is in any case limited. The speed of change of the direction change of the travel movement has the dimension ° / s.Preferably, the control device brings about or supports a travel movement on a path taking into account limit values for temporal derivatives of the position of the device on the path, wherein the limit values can vary along a respective path. Thus, (in terms of absolute value or vector value) certain limit values for the speed, the acceleration and possibly also the jerk can be assigned to different sections of the path. Such limitations may be useful in particular when the respective path makes curves and / or the device is located shortly before an intersection or bifurcation of the path or shortly before an end station. For example, in straight portions of the paths on which no bifurcations and intersections are located, a high speed can be permitted, while the maximum permitted speed in curves, bifurcations and intersections can be limited to values set according to the associated radii of curvature.Preferably, during the movement of the device, the control device continuously receives information about the environment of the device, evaluates the information as to whether an obstacle is located on the path, automatically plans a bypass route in the case of an obstacle, by means of which the obstacle is bypassed, and moves the device on the bypass route. As a result, the (almost) automatic operation of the mobile medical device can be maintained almost unrestricted even in the case of an unpredictable obstacle. The corresponding sensors can be, for example, the cameras already mentioned, which are installed in the building. These may also be other sensors (camera, LIDAR, radar, etc.) which are arranged on the medical device and in particular, as viewed from the medical device, look "forward". Both the sensor systems and the evaluation of the signals detected by the sensor systems are known as such.In some cases, the control device can plan the bypass route directly and also move the device automatically on the bypass route (with the exception of the travel request). In other cases, the controller previously inquires the operator of a start command for moving the apparatus on the bypass route. In yet other cases, the control device plans a plurality of bypass routes (in this case usually exactly two bypass routes, namely one each past the obstacle on the left and right) and accepts a selection of one of the plurality of bypass routes directly or indirectly by the operator. The specification can be effected, for example, by an action of the operator on a handle analogous to a specification of a change in direction. Of course, other approaches for selecting a bypass route are also possible.Preferably, when a minimum distance from an end station is undershot and when a simultaneous travel movement to this end station is occurring, the control device sets up an actuation of the direction influencing device for the purpose of the method on the relevant path. In this case, the operator of the device is responsible for the exact positioning at the approached end station. The control device thus still brings about an activation of the drive when a travel request is specified, but the navigation is incumbent to the operator.Alternatively, if a minimum distance from an end station is undershot, the control device, during a simultaneous travel movement to this end station, starts the relevant end station on the respective route even if the travel request is no longer predefined for it. In this case, it is even possible for the operator to already move away from the device and take over other tasks.Whether and optionally which of these two possibilities is implemented depends on the circumstances of the individual case. In particular, the case in which the control device automatically starts an end station should only be taken if a risk can otherwise be ruled out. The minimum distance can be, for example, between 1 m and 5 m, in particular between 1.5 m and 3 m.According to a first aspect of the invention, the control device can receive a request for reversal of direction and in this case rotates the medical device on the site by 180° about a vertical axis. This procedure can have advantages if a reversal of direction is to be carried out on a specific path. In principle, however, a reversal of direction can also take place when the device is not in one of the paths.The specification for reversing the direction can be specified to the control device, for example, via a (possibly further) power handle or a special button. Turning on the spot is only possible with specific direction influencing devices. An example of such a direction influencing device is a so-called mecanum kinematic system.In some embodiments, it may be expedient if the control device accepts a specification of an end station to be approached and automatically determines, based on the current position of the device and the end station to be approached, which of the paths known to it leads from the current position to the end station to be approached. This procedure has the advantage that the control device can itself decide which path it must take at intersections and bifurcations of the path. In this case, the operator only needs to specify the end station as such and then specify the travel request. The procedure can be useful in particular when only a small number of end stations is possible and the device has a corresponding operator interface, so that the corresponding specification is possible.The end stations and / or the paths can be specified as required. For example, the corresponding information can be loaded into the control device as a data record via a corresponding interface. Preferably, the control device accepts the end stations and / or the paths in a learning mode by means of a teaching.The term "teaching" is well known to those skilled in the control art. Teaching generally means that the associated control device is transferred into a learning operation and, in the learning operation, the facts to be learned are specified directly by manual handling of the associated device by an operator. In the specific case of the mobile medical device, for example, the device is moved to the relevant location in order to specify an end station and then, for example, the respective location is adopted as the end station by actuating a learning key. Similarly, the controller may be shifted to the learning operation for learning a path and the learning operation may be maintained while the desired path is traversed. For example, the learning key can remain permanently actuated for this purpose.Preferably, the control device performs a smoothing of the paths based on the paths specified by teaching. As a result, the control device can compensate for minor inaccuracies which can easily occur within the scope of teaching.Corresponding smoothing methods are generally known to those skilled in the art. For example, the shortest smooth path can be determined, which deviates from the path specified immediately during the driving along by a maximum of x centimeters and complies with certain specifications with respect to its minimum radius of curvature.Preferably, the control device stores positions at which the device is shut down, although they are not end stations, and additionally takes over such positions as end stations if the device is shut down at the respective such position a sufficient number of times-possibly within a predefined period of time.This procedure has the result that the control device is self-learning, so to speak, even during operation.The limit for "sufficiently many" may be determined as required. It may be 5, 10, 15 and may be other values. The limitation to a predefined period of time may or may not be given. If given, the predefined time period may be, for example, a day, week, month, or other suitable numerical value.Preferably, the control device also stores the associated routes to these positions with respect to the positions at which the device is parked, although they are not end stations, and additionally takes over these routes as routes if it takes over the associated position as an additional end station. As a result, the control device can also be self-learning, so to speak, with respect to the paths during ongoing operation.Teaching and also automatic learning are also possible in the case of additional obstacles. If-for example-based on manual control of the device by an operator-a specific path is repeatedly left in the same area and instead is repeatedly traveled in approximately the same deviating route and then returned to the specific path again, this can be interpreted by the control device as a new, additional obstacle which must be bypassed in the future. In this case, although the end stations are not changed, the paths are changed.Furthermore, it may be possible--almost naturally--for the operating mode according to the invention to be activated or deactivated. In the case of deactivation, although the driving support is active, that is to say the driving of the drive, the guidance is however incumbent to the operator in this case. The operator's route guidance is also present if and as long as the mobile medical device is not located on one of the routes or in the vicinity thereof. Finally, within the scope of unpredictable situations--also within the scope of the operating mode according to the invention--it is always possible for the control device to end the method along the respective path and to continue to actuate the drive and / or the direction influencing device only on the basis of corresponding specifications of the operator.The object is furthermore achieved by a control program having the features of claim 15. According to the invention, the processing of the machine code causes the control device to execute an operating method according to the invention. In this case, it is assumed that the mobile medical device additionally has a direction influencing device, by means of which the direction of travel of the travel movement can be varied, and the direction influencing device can be controlled by the control device.The object is furthermore achieved by a control device having the features of claim 16. According to the invention, the control device is programmed with a computer program according to the invention, so that the control device executes an operating method according to the invention during operation. Here too, it is assumed that the mobile medical device additionally has a direction influencing device, by means of which the direction of travel of the travel movement can be varied, and the direction influencing device can be controlled by the control device.The object is furthermore achieved by a mobile medical device having the features of claim 17. According to the invention, the device first has a direction influencing device, by means of which the direction of travel of the travel movement can be varied. Furthermore, the control device can additionally also activate the direction influencing device. Finally, the control device is designed as a control device according to the invention.The above-described characteristics, features and advantages of this invention and the manner in which they are achieved will become clearer and more clearly comprehensible in conjunction with the following description of the exemplary embodiments, which are explained in more detail in conjunction with the drawings. In this case, the following are shown in schematic representation: FIG. 1 shows a mobile medical device from the side, FIG. 2 shows the mobile medical device of FIG. 1 from above, FIG. 3 is a plan view of a building with paths and end stations, FIG. 4 is a flow chart, FIG. 5 shows a power grip from the side, FIG. 6 shows a power grip from above, FIG. 7 shows two power handles from above, FIG. 8 shows a portion of a path and a mobile medical device, FIG. 9 shows portions of paths and a mobile medical device, FIG. 10 is a flow chart, FIG. 11 is a path diagram, FIG. 12 is a path diagram, FIG. 13 is a flow chart, FIG. 14 is a perspective view of a path, an obstacle, and a mobile medical device, FIG. 15 is a flow chart, FIG. 16 is a flow chart; and FIG. 17 shows ways.It is pointed out above that, irrespective of the grammatical sex of a specific person-related term, persons with male, female and other sex identity are always to be included.According to FIGS. 1 and 2, a mobile medical device 1 has a chassis 2. By means of the chassis 2, the device 1 can be moved on a ground 3. The chassis 2 comprises a plurality of wheels 4. Usually, however, at least three wheels 4 are present.The apparatus 1 also has a drive 5. As indicated by arrows 6 in FIGS. 1 and 2, at least one of the wheels 4 is driven by means of the drive 5. As a result, depending on the driving force exerted by the drive 5, a travel movement of the device 1 (supplemented: completely) can be effected or at least supported.The device 1 also has a direction influencing device 7. By means of the direction influencing device 7, the direction of travel of the travel movement can be varied. For example, as indicated by arrows 8 in FIG. 2, the orientation of at least one of the wheels 4 can be influenced. However, other configurations of the direction influencing device 7 are also possible. The direction influencing device 7 is referred to below briefly as steering 7. However, a restriction to steering in the narrower sense should not be associated therewith.According to FIG. 3, the device 1 is intended to be moved within a building 9. In solid lines, the walls of the building 9 are shown in FIG. 3, wherein doors present in the walls or elsewhere are not also shown. The walls are of minor importance, however. It is decisive that a number of defined end stations 10 are present. The end stations 10 are indicated in FIG. 3 by small circles. The mobile medical device 1 is intended to be moved to the end stations 10-as a rule between the end stations 10-in defined ways 11. The paths 11 are shown in dashed lines in FIG. 3.Both the structure of the building 9 and the number of end stations 10 and the possible paths 11 are merely exemplary. Furthermore, in FIG. 3, only a few of the end stations 10 and also only a few of the paths 11 are provided with their reference numerals.According to FIG. 1, the device 1 has a control device 12. Both the drive 5 and the steering 7 can be controlled by the control device 12. The control device 12 is programmed with a control program 13. The control program 13 comprises machine code 14 which can be processed by the control device 12. The execution of the machine code 14 by the control device 12 has the effect that the control device 12 executes an operating method, the basic principle of which is explained in more detail below in connection with FIG. 4. Embodiments of this basic principle will be explained below in conjunction with the further FIG..According to FIG. 4, the control device 12 is informed of the end stations 10 and the paths 11 in a step S 1. Step S 1 can be implemented in principle in any desired manner. A preferred manner of implementing step S1 will be explained in more detail later.In a step S 2, a current position p of the device 1 is known to the control device 12. Often, in step S 2, the control device 12 additionally also knows the orientation ◯ of the device 1. For example, explicit specification can be made by an operator 15. Other possibilities are also available.In a step S 3, the control device 12 checks whether a travel request FA is specified by the operator 15 (see FIG. 1 ). If so, the controller 12 receives the travel request FA in a step S4. Otherwise, the control device 12 returns directly to step S 3.In the following, it is only briefly stated that the control device 12 is provided with the driving request FA. The situation is thus described from the point of view of the operator 15. From the perspective of the control device 12, this always corresponds to the fact that the control device 12 accepts the driving request FA. Analogous facts apply to other requirements which are specified by the operator 15 to the control device 12 and are consequently also accepted by the control device 12.In the case of a travel request FA, the control device 12 determines an at least approximate setpoint direction of the travel movement in a step S 5 while utilizing the travel request FA. In some cases, namely if the driven wheels 4 can be driven by means of the drive 5 only in the "forward" direction, the execution of step S 5 can be trivial. In other cases, for example, it is possible to distinguish between the forward and rearward directions. In a step S 6, the control device 12 controls the drive 5 in accordance with the setpoint direction ascertained in step S 5.In a step S 7, the control device 12 checks whether a request DA for a change of direction (hereinafter referred to briefly as a rotation request DA) has also been specified by the operator 15 in addition to the travel request FA. If this is the case, the control device 12 controls the steering system 7 accordingly in a step S 8. Then, the controller 12 proceeds to a step S 9. In step S 9, the control device 12 updates the current position p (and optionally also the current orientation ◯) of the device 1.When the controller 12 does not proceed from step S 7 to step S 8, the controller 12 proceeds to step S 10. In step S 10, the control device 12 checks whether the current position p of the device 1 is at least approximately on one of the paths 11. If so, the controller proceeds to a step S11. In step S 11, the control device 12 controls the steering 7 in addition to the drive 5. The activation is carried out in such a way that the device 1 is moved on the relevant path 11 on which it is currently located. From step S 11, the controller 12 proceeds to step S 9.If the controller 12 does not proceed from step S 10 to step S 11, the controller 12 directly proceeds to step S 9. Step S 10 is thus skipped.Various facts are evident from the procedure of FIG. 4. These basic principles also apply to the embodiments explained below.First, it is understood that the controller executes steps S4 and subsequent steps S5 to S11 only when it is given the travel request FA. A cycle time during which the control device 12 executes step S 3 and optionally also the subsequent steps S 4 to S 11 once is usually in the range of a few milliseconds. Thus, the drive 5 and optionally also the steering 7 are activated only as long as the control device 12 accepts the driving request FA.It can also be seen that a travel request FA and also a rotation request DA are always executed. The procedure of FIG. 4 can therefore also be carried out when the device 1 is not located on one of the paths 11. Only the step S 11 is not executed in this case.It can also be seen that the specification of a change of direction by the operator 15 has priority 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.Finally, it can be seen that the control device 12 continuously updates the current position p (and optionally also the current orientation ◯) of the device 1 during the travel movement.If necessary, the drive 5 and / or the steering 7 can also be switched off by the operator 15. In this case, no actuation of the drive 5 and / or of the steering 7 takes place by the control device 12. Furthermore, it is also possible to switch off the method according to the invention as such and to operate the device 1 in a conventional manner. In this case, steps S 10 and S 11 are not executed. In the NO branch of step S 7, in this case, the method directly moves to step S 9.FIGS. 5 and 6 show a possible preferred manner in which a driving request FA can be specified to the control device 12. According to FIGS. 5 and 6, the device 1 has a (first) power grip 16. The power handle 16 can be moved slightly, for example, as indicated by arrows 17 and 18 in FIGS. 5 and 6 (very small paths of a few millimeters and possibly even less sufficient) forwards and possibly also backwards. A pure exertion of a force, i.e. without mechanical movement, can also be sufficient. A forward movement and also a possible rearward movement only take place when the operator 15 acts on the handle 16 with a corresponding force F 1 or F 2 in a horizontal direction-referred to below as a horizontal preferred direction. Furthermore, the respective force F 1, F 2 must be above a first minimum force Fmin 1, which the handle 16 opposes a deflection from a rest position. If the force F1>Fmin1 acts on the handle 16-with or without mechanical movement-in the preferred direction, the control device 12 evaluates this as a driving request FA in the horizontal preferred direction ("forward"). If the force F 2>Fmin 1 acts on the handle 16-with or without mechanical movement-counter to the preferred direction, the control device 12 evaluates this as a travel request FA counter to the horizontal preferred direction ("rearward"). Corresponding sensor systems are generally known to persons skilled in the art and therefore need not be explained in detail.In many cases, according to the illustration in particular in FIG. 6, it is also possible to act on the handle 16 also in a horizontal transverse direction orthogonal to the horizontal preferred direction. Analogously to the procedure for presetting a driving request FA, it is possible, for example, as is indicated in FIGS. 5 and 6 by arrows 19 and 20, to move slightly (as before, very small paths of a few millimeters and possibly even less sufficient) to the left and right. A movement to the left or right takes place only when the operator 15 acts on the handle 16 with a corresponding force F 3 or F 4 in the transverse direction. Furthermore, the respective force F 3, F 4 must be above a second minimum force Fmin 2 that the handle 16 opposes a deflection from a rest position. If the force F 3>Fmin 2 acts on the handle 16 in the transverse direction to the left, the control device 12 evaluates this as a rotation request DA to the right or left (note the sequence of the two terms). If the force F 4>Fmin 2 acts on the handle 16 in the transverse direction, the control device 12 evaluates this as a rotation request DA to the left or right (note the sequence of the two terms). Corresponding sensor systems are also generally known here to those skilled in the art and therefore do not need to be explained in detail. Furthermore, embodiments are also possible here which can be realized without mechanical movements, that is to say with pure detection of the force as such.FIG. 7 shows a possible and likewise preferred manner, which is alternative to FIGS. 5 and 6, and in which a travel request FA and a rotation request DA can be predefined for the control device 12. According to FIG. 7, the device 1 has a second handle 21 in addition to the first handle 16. The two power handles 16, 21 are spaced apart from one another when viewed in the transverse direction. Forces F 5 and F 6 can be exerted on the two power grips 16, 21, respectively. For a respective positive value, the respective force F 5, F 6 is reported in the horizontal preferred direction ("forward"), for a respective negative value against the horizontal preferred direction ("rearward"). The forces F 5 and F 6 exerted on the two power grips 16, 21 can be evaluated by the control device 12 (for example) as follows:If the magnitudes of both forces F 5, F 6 are below the minimum force Fmin 1, the control device 12 evaluates this to the effect that neither a travel request FA nor a rotation request DA is predefined for it.If the amounts of both forces F 5, F 6 are above the minimum force Fmin 1, the control device 12 evaluates this as follows:If both forces F5, F6 are greater than 0, a driving demand FA for driving forward is present.If both forces F 5, F 6 are less than 0, a driving demand FA for driving backwards is present.If the force F5 is greater than 0 and the force F6 is less than 0, a rotation request DA is present in the one direction.If the force F5 is less than 0 and the force F6 is greater than 0, a rotation request DA is present in the other direction.If the magnitude of one of the two forces F 5, F 6 is above the minimum force Fmin 1 and the other is below it, the control device 12 evaluates this as follows:If the magnitude of the force F5 is greater than the minimum force Fmin1, then depending on the sign of the force F5, a rotation request DA is present in one direction or in the other.If the magnitude of the force F6 is greater than the minimum force Fmin1, then depending on the sign of the force F6 there is a rotation request DA in the other or in one direction.As a result, the control device 12 thus evaluates a similar effect on the two power grips 16, 21 in the horizontal preferred direction with a first and a second force F 5, F 6 above the first minimum force Fmin 1 as a travel request in the horizontal preferred direction. Likewise, the control device 12 evaluates an unequal effect on the two power handles 16, 21 in the horizontal preferred direction as a rotation requirement DA, provided that (at least) one of the two forces F 5, F 6 is above the first minimum force Fmin 1.As already mentioned, it is not absolutely necessary for the device 1 to be moved on one of the paths 11. If the device 1 is not moved on one of the paths 11, the case may occur that, during the movement of the device 1, the device 1 impinges on one of the paths 11 in the movement (indicated in FIG. 8 by an arrow 22), as shown in FIG. 8. In this case, the further method of the device 1 is preferably continued on the path 11. It is possible for the operator 15 to always decide whether to bend to the right or to the left as shown in FIG. 8. Preferably, however, the control device 12 determines an angle α at which the device 1 impinges on the path 11. Both the determination of the impingement on a path 11 as such and the determination of the angle α are easily possible, since the paths 11 are known anyway to the control device 12 and the direction of movement of the device 1 can also be known on the basis of the sequence of the current positions p.The control device 12 can compare the determined angle α with a limit angle αG. The critical angle αG is an acute angle. It is therefore less than 90°. If the angle α is at most as large as the limit angle αG, the control device 12 can automatically define, when it impinges on the path 11, in which direction it moves the device 1 on this path 11. Of course, the direction is selected which is associated with the smallest change of direction with respect to the current direction of movement, as is indicated by the arrow 22. The critical angle αGmay be 70°, for example.As can already be seen from FIG. 3 and is shown even more clearly in FIG. 9, the paths 11 can join, cross, fork, etc. As required, the control device 12 is generally not known which end station 10 is to be approached. If the device 1 is moved on a path 11, the control device 12 in the case of an intersection or path bifurcation therefore cannot know in some cases on which path 11 the device 1 should be moved further from the intersection or path bifurcation. It is always possible for the operator 15 of the control device 12 to make a corresponding specification. This procedure can be supplemented by taking into account the travel speed of the device 1: If the travel speed is above a limit value, then the path 11 which is associated with the smallest change in direction is always traveled on from the intersection or fork of the path. If, on the other hand, the travel speed is below the limit value, then the operator 15 is always asked, before the intersection or fork path, which path 11 should continue to travel from the intersection or fork path.Furthermore, the operator 15 can also meet this specification in the case that the travel speed is below the limit value by not presetting a rotation request DA. In this case, the path 11 behind the intersection is traveled on further, which is associated with the smallest change in direction.A desire to turn can be predefined to the control device 12 by a corresponding turning request DA. It may be sufficient if the rotation request DA is predefined only briefly, i.e., in particular not during the entire time period of-for example-5 s, which is required for complete changing from the direction of travel before the fork-away into the new direction of travel after the intersection or fork-away. If, for example, the distance to the intersection or fork-away is less than x meters or taking into account the current speed) is less than y seconds and the operator 15 of the control device 12 specifies a turning request DA to the right for a short period of time (for example, for more than 0.2 s but less than 1 s), the control device 12 can "know" that a turn is to be made to the right at the intersection or fork-away based on the turning request DA.This procedure is explained in more detail below in connection with FIG. 10. Within the framework of the procedure of FIG. 10, it is assumed that the device 1 is already being moved on one of the paths 11. FIG. 10 thus shows a possible embodiment of step S 11.Referring to FIG. 10, the controller 12 checks whether the apparatus 1 approaches a path bifurcation or intersection on the currently traveling path 11 in a step S 21. If this is not the case, the control device 12 follows the currently traveled path 11 in a step S 22.When the device 1 approaches a fork or intersection, the control device 12 selects in a step S 23 that path 11 behind the fork or intersection which forms the smallest angle with the currently traveled path 11, i.e. on which a continuation of the currently traveled path 11 with the smallest change in direction is given. If necessary, step S 23 can be modified to the effect that the control device 12 selects a path 11 in step S 23 only if this path is a straight continuation of the currently traveled path 11 or is only connected to a change in direction that does not exceed a predetermined limit value.Then, the controller 12 checks whether the current speed is above a minimum speed in a step S24. If this is the case, the control device 12 selects the path 11 selected in step S 23 as the path 11 on which the method of the device 1 is to be continued in a step S 25. Otherwise, it is necessary for the operator 15 to specify a selection of one of the paths 11 to the control device 12 in a step S 26. As already mentioned, the specification can be a short specification over time, i.e. it does not have to be present during the entire change of direction. It can optionally also be a confirmation that (more or less) it is to be driven further straight ahead.In the simplest case, only the paths 11 are known as such to the control device 12. However, it is possible that the control device 12 together with the paths 11 also knows limit values vmax, amaxfor time derivatives of the position of the device 1 on the paths 11. FIG. 11 shows, purely by way of example, a possible profile of a limitation of the travel speed along one of the paths 11; FIG. 12 similarly shows, by way of example, a possible profile of a limitation of the acceleration along this path 11. However, the limit values vmax, amax represent upper limits which are observed during the method of the device 1. The limit values vmax, amax are usually amounts. They generally apply to both directions of travel and to both directions of action. If necessary, however, they can also be predefined as a function of the direction of travel and / or as a function of the direction of action.In a further preferred embodiment of the present invention, the control device 12 continuously receives information I about the environment of the device 1 during the method of the device 1. For example, as shown in FIG. 1, a camera 23 or the like looking in the direction of travel can be arranged on the device 1, the captured images of which are fed to the control device 12. In the case of the continuous reception of the information I, the step S 11 or the step S 22 can be configured as explained below in conjunction with FIG. 13.Referring to FIG. 13, in a step S 31, the controller 12 acquires the information I. In a step S 32, the control device 12 prepares the received information I. Corresponding algorithms are well known to those skilled in the art.In a step S 33, the control device 12 checks whether it detects an obstacle 24-see FIG. 14-on the basis of the received information I on the currently traveled path 11. In addition to the determined position and the determined dimensions of the obstacle 24, the control device 12 also takes into account the dimensions of the mobile medical device 1 known to it in the context of step S 33. If and as long as no obstacle 24 is detected, the control device 12 follows the currently traveled path 11 in a step S 34.If, however, the control device 12 detects an obstacle 24, then in a step S 35 the control device 12 automatically (at least) plans a bypass route 25, by means of which the obstacle 24 can be bypassed and thereafter the further movement of the device 1 on the path 11 can be continued. In a step S 36, the controller 12 then adopts the newly scheduled bypass route 25 (or one of the scheduled bypass routes 25) for the corresponding section of the path 11 as the new path 11. In the execution of step S34 now, the path 11 is continued taking into account the bypass route 25. The control device 12 thus moves the device 1 on the bypass route 25.If appropriate, there may additionally be a step S 37 in which the control device 12 accepts from the operator 15 a selection of a plurality of planned bypass routes 25 or a confirmation of the (single) planned bypass route 25. However, in some cases or situations, step S 37 may be omitted or skipped. Step S 37 is only drawn in dashed lines in FIG. 13, because it does not always and necessarily have to be present and / or executed.FIG. 15 shows a further possible embodiment of step S 11 or step S 22 or step S 34. The procedure of FIG. 15 is normally relevant only when the device 1 is located on one of the paths 11 and, as seen in the direction of travel, the path 11 as far as the end station 10 no longer has intersections or bifurcations. In these situations, only this end station 10 can be approached. It is important in this context that the device 1 is moved toward this end station 10, i.e. not away from the end station 10.According to FIG. 15, in this case, when traversing the path 11, the control device 12 can continuously determine the remaining distance d of the device 1 from the respective end station 10 in a step S 41. The distance d does not necessarily correspond to the geometric distance, but generally to the distance still to be traveled along the path 11. In a step S 42 the control device 12 can check whether the distance d falls below a minimum distance dmin. As long as the minimum distance dmin is not undershot, a "normal" method along the path 11, i.e. a method while on the one hand monitoring the operator 15, but on the other hand maintaining the path 11, takes place in a step S 43. If on the other hand the minimum distance dmin is undershot, the control device 12 can proceed to a step S 44 or a step S 45. Of the two steps S44 and S45, only one is always executed. Which of the two steps is carried out may vary from end station 10 to end station 10.In step S 44, the control device 12 takes over completely, if appropriate after a previous release by the operator 15, the control over the movement of the device 1 to the end station 10; this procedure can be useful if, on the one hand, exact positioning at the end station 10 is required and, on the other hand, unpredictable occurrences during the remaining movement of the device 1 can be ruled out. An example of such a situation can be the docking of a patient couch to an imaging medical modality, for example a CT system or an MR system. During the execution of step S 44, it may be immaterial whether the driving request FA is still predefined or is no longer predefined to the control device 12.In step S 45, the control device 12 sets an activation of the steering system 7 for the purpose of the method on the relevant path 11. Steering movements therefore only take place on the basis of a corresponding specification of the operator 15. This procedure can be useful in particular if only the operator 12 has the necessary knowledge of at which exact position p (and optionally with which exact positioning o) the device 1 is to be parked at the end station 10.FIG. 16 shows an optional embodiment of the procedure of FIG. 4, FIG. 16 here only shows the relevant parts of FIG. 4, the remaining parts of FIG. 4 being retained unchanged.Referring to FIG. 16, steps S51 and S52 are inserted between steps S2 and S3. In step S 51, the control device 12 checks whether a special turning command SB is specified by the operator 15. If the special command SB is not specified to it, the control device 12 skips over the step S 52 and thus directly proceeds to the step S 3. If, on the other hand, the special command SB is predefined for it, the control device 12 controls the steering system 7 in step S 52 in such a way that the medical device 1 rotates around a vertical axis by 180° on the site. It is said to be "Return marsch". The execution of step S 52 is advantageous in particular when the device 1 is already on one of the paths 11. In principle, however, the design is also possible if this is not the case. It is also important that steps S 51 and S 52 are incorporated into the loop which begins with step S 3 within the scope of FIG. 4. Starting from step S 3 and also from step S 9 (compare FIG. 4 ), in the case of the configuration according to FIG. 16, the control device 12 therefore does not return to step S 3 but rather to step S 51.As a rule, although the end stations 10 and the paths 11 are known in advance to the control device 12. In contrast, the control device 12 is generally not known in advance which specific end station 10 is to be approached. One exception is the situation already explained, that, viewed in the direction of travel from the current position p of the device 1, there are no longer intersections and bifurcations of the path, but only a single end station 10.However, a further exception can be created by allowing the operator 15 to select a specific end station 10 as the end station 10 to be approached and to specify it to the control device 12. In this case, the control device 12 can automatically determine, based on the current position p of the device 1 and the end station 10 to be approached, which of the paths 1 known to it leads from the current position p to the end station 10 to be approached. The specification of an end station 10 to be approached can be useful in particular when the device 1 is already on one of the paths 11. In principle, however, the specification of an end station 10 to be approached is also possible when the device 1 is not yet located on one of the paths 11. In this case, the control device 12 can determine the closest location on one of the paths 11 starting from the current position p, if appropriate with additional consideration of the current orientation o, and plan it starting from this location.Various possibilities are available for the specification of the end stations 10 and the paths 11. For example, the corresponding information can be loaded into the control device 12 in the manner of a program or another data record. Preferably, however, the control device 12 accepts the end stations 10 and / or the paths 11 in a learning mode by means of a teaching.To carry out the teaching, the control device 12 is initially put into the learning mode by the operator 15, for example by actuating a specific key (learning key) or specifying a numerical code. Then, an operation of the apparatus 1 is performed which is similar to the operation explained above in connection with FIG. 4. One difference is that in this learning operation, steps S 10 and S 11 are always skipped. Thus, steps S 10 and S 11 are never executed in the learning operation. A further difference is that during the movement of the device 1, the control device 12 continuously stores the positions p and optionally also orientations ◯ of the device 1 and thus creates a path 11. An end station 10 can be "learned" in the learning mode, for example, by the operator 15 moving the device 1 to a specific position p and then actuating a special key. Due to the actuation of the special key, the control device 12 can in this case take over the position p given at this point in time as the end station 10. Thus, upon completion of the learning operation, the end stations 10 and the paths 11 are stationary.Upon a renewed transition to the learning operation, two different procedures are possible. On the one hand, the end stations 10 and paths 11 learned in the previous learning operation can be deleted, so that the learning starts again from the beginning. On the other hand, the end stations 10 and paths 11 learned in the previous learning operation can be retained, so that the learning starts at the current state of knowledge from the point of view of the control device 12.It is possible for the control device 12 to take over the paths 11 exactly as they are specified to them by the operator 15 within the scope of the teaching. However, the path specified within the framework of the teaching-in-specified path--provided with the reference numeral 26 in FIG. 17--will never run straight over longer distances. The reason is simply that the operator 15 usually does not exactly meet the correct direction when moving the device 1, but must always perform small, small directional corrections. FIG. 17 shows this purely by way of example for the case in which two substantially straight sections are traversed from one end station 10 to another end station 10, which sections adjoin one another at an appreciable angle (approximately 90° in the example shown). If, during normal operation, exactly the path 26 defined within the scope of the teaching were now followed, the small directional corrections would also be followed. However, this is not necessary. Preferably, the control device 12 therefore performs a smoothing of this path 26 based on the path 26 specified by teaching. For example, for this purpose, the control device 12 can first define a hose 27 around the path 26 defined within the scope of the teaching. Within this hose 27, the control device 12 can define, as the resulting path 28 (as a result, therefore, as the path 11), a path which is as straight as possible and which complies with certain conditions, for example does not fall below a minimum radius of curvature, at those points at which a change in direction is unavoidable.In addition to a dedicated learning operation as explained above, an implicit learning operation similar to teaching during the current operation (FIG. 4 ) is also possible. In this case, during the running operation, the control device 12 additionally executes the action of teaching insofar as it stores positions p, which are not end stations 10 and at which the apparatus 1 is parked by the operator 15, and also stores the associated route (this word selection is used for distinguishing from a path 11). The respective position p is therefore (still) not an end station 10 and the associated route, insofar as it is outside the paths 11, is (still) not a path 11.A one-time use of such a position p for stopping the device 1 is not yet a sufficient indicator for a "new end station". However, such a position p and the associated route (the latter, if appropriate after processing according to the procedure of FIG. 17 ), can then be adopted by the control device 12 as a new end station 10 and associated path 11 if the device 1-if appropriate within a predefined period-is shut down at the corresponding position p a sufficient number of times. For example, a takeover as a new end station 10 and associated path 11 can take place when the corresponding position p (independently of a time period) is approached in total by at least ten times or is approached at least three times during a day or is approached at least five times during a week. If necessary, a transfer can also take place only if it is previously confirmed by the operator 15.In summary, the present invention thus relates to the following facts:A mobile medical device 1 is movable by means of a chassis 2 on a floor 3 within a building 9. The travel movement of the device 1 can be effected or at least supported by means of at least one drive 5. By means of a direction influencing device 7, the direction of travel of the travel movement can be varied. Both the drive 5 and the direction influencing device 7 can be controlled by a control device 12. The control device 12 is familiar with end stations 10 and paths 11 leading to the end stations 10 and a current position p of the device 1. The control device 12 receives a travel request FA from an operator 15 and determines an at least approximate desired direction of the travel movement while utilizing the travel request FA. The control device 12 only controls the drive 5 as long as it accepts the driving request FA. In addition to the drive 5, the control device 12 controls the direction influencing device 7 so that the device 1 is moved on one of the paths 11 when it receives the travel request FA and the current position p of the device 1 is at least approximately on this path 11. Furthermore, during the travel movement, the control device 12 continuously updates the current position p of the device 1.The present invention has many advantages. In particular, the previous interaction of the operator 15 with the device 1 can be maintained unchanged. Essentially, as before, the operator 15 pushes or pulls the device 1 and directs it as required. Nevertheless, the paths 11 are observed, which is of considerable advantage, in particular when cornering and when an inexperienced operator 15 is involved. The control over the travel movement as such continues to remain at the operator 15. Nevertheless, considerable advantages arise in the medical workflow. Possible states-for example activation of the guidance on one of the paths 11 when hitting a path 11, activation of the operating method according to the invention in principle, and others can be displayed visually, acoustically, haptically, etc.Although the invention has been illustrated and described in more detail by the preferred exemplary embodiment, the invention is not restricted by the disclosed examples and other variations can be derived therefrom by the person skilled in the art without departing from the scope of protection of the invention.

Claims

Operating method for a mobile medical device (1), having a chassis (2) by means of which the device (1) can be moved on a ground (3) within a building (9), having at least one drive (5) by means of which a travel movement of the device (1) can be effected or at least supported, having a direction influencing device (7) by means of which the travel direction of the travel movement can be varied, and having a control device (12) by means of which both the drive (5) and the direction influencing device (7) can be controlled, - wherein a number of end stations (10) and paths (11) leading to the end stations (10) are known to the control device (12), - wherein a current position (p) of the device (1) is known to the control device (12), wherein the control device (12) accepts a driving request (FA) from an operator (15), - wherein the control device (12) uses the driving request (FA) to determine an at least approximate desired direction of the driving movement, - wherein the control device (12) actuates the drive (5) only as long as it accepts the driving request (FA), - wherein the control device (12), when it accepts the driving request (FA) and the current position (p) of the device (1) is at least approximately on one of the paths (11), actuates the direction influencing device (7) in addition to the drive (5) so that the device (1) is moved on the path (11) in question, and - the control device (12) is continuously updating the current position (p) of the device (1) during the travel movement, characterized in that the control device (12) can receive a request (SB) for the reversal of direction, and in that the control device (12) in this case rotates the medical device (1) on the site by 180° about a vertical axis.Operating method for a mobile medical device (1), having a chassis (2) by means of which the device (1) can be moved on a ground (3) within a building (9), having at least one drive (5) by means of which a travel movement of the device (1) can be effected or at least supported, having a direction influencing device (7) by means of which the travel direction of the travel movement can be varied, and having a control device (12) by means of which both the drive (5) and the direction influencing device (7) can be controlled, - wherein a number of end stations (10) and paths (11) leading to the end stations (10) are known to the control device (12), - wherein a current position (p) of the device (1) is known to the control device (12), wherein the control device (12) accepts a driving request (FA) from an operator (15), - wherein the control device (12) uses the driving request (FA) to determine an at least approximate desired direction of the driving movement, - wherein the control device (12) actuates the drive (5) only as long as it accepts the driving request (FA), - wherein the control device (12), when it accepts the driving request (FA) and the current position (p) of the device (1) is at least approximately on one of the paths (11), actuates the direction influencing device (7) in addition to the drive (5) so that the device (1) is moved on the path (11) in question, and - the control device (12) continuously updates the current position (p) of the device (1) during the travel movement, characterized in that, when the device (1) impacts a path (11) during the movement at an angle (α) which is at most as large as an acute critical angle (αG), the control device (12) automatically determines in which direction it moves the device (1) on this path (11).Operating method according to Claim 1 or 2, characterized in that the control device (12) evaluates an action on a first power grip (16) of the device (1) in a horizontal preferred direction with a force (F1, F2) above a first minimum force as a driving requirement (FA) in the horizontal preferred direction.Operating method according to Claim 3, characterized in that the control device (12) evaluates an action on the first power grip (16) in a horizontal transverse direction orthogonal to the horizontal preferred direction with a force (F3, F4) above a second minimum force as a requirement (DA) for a change in direction of the travel movement and actuates the direction influencing device (7) accordingly.Operating method according to Claim 1 or 2, characterized - in that the control device (12) evaluates a similar action on a first and the second power grip (16, 21) of the appliance (1), which are spaced apart from one another horizontally, viewed orthogonally to a horizontal preferred direction, in the horizontal preferred direction with a first and a second force (F5, F6) above a first minimum force as a travel requirement (FA) in the horizontal preferred direction, and - in that the control device (12) evaluates a dissimilar action on the first and the second power grip (16, 21) in the horizontal preferred direction, wherein the first or the second force (F5, F6) is above the first minimum force, as a requirement for a change in direction (DA) of the travel movement and actuates the direction influencing device (7) accordingly.Operating method according to one of the above claims, characterized in that in the case of a path bifurcation, if a request (DA) for a change of direction is absent, the control device (12) automatically selects, as a further path (11) behind the path bifurcation, that path (11) whose travel is associated with the smallest change of direction.Operating method according to one of the above claims, characterized in that the control device (12) effects or at least supports a travel movement on a path (11) taking into account limit values (vmax, amax) for time derivatives of the position (p) of the device (1) on the path (11), and that the limit values (vmax, amax) can vary along a respective path (11).Operating method according to one of the above claims, characterized in that the control device (12) continuously accepts information (I) about the environment of the device (1) during the movement of the device (1), that the control device (12) evaluates the information (I) to determine whether an obstacle (24) is located on the path (11), and that the control device (12) automatically plans a bypass route (25), by means of which the obstacle (24) is bypassed, in the case of an obstacle (24), and moves the device (1) on the bypass route (25).Operating method according to one of the above claims, characterized in that, when a minimum distance (dmin) from an end station (10) is undershot, the control device (12), in the event of a simultaneous travel movement to this end station (10), either sets an activation of the direction influencing device (7) for the purpose of the method on the relevant path (11) or starts the relevant end station (10) on the relevant path (11) even if the travel request (FA) is no longer predefined for it.Operating method according to one of the above claims, characterized in that the control device (12) accepts a specification of an end station (10) to be approached and automatically determines, based on the current position (p) of the device (1) and the end station (10) to be approached, which of the paths (11) known to it leads from the current position (p) to the end station (10) to be approached.Operating method according to one of the above claims, characterized in that the control device (12) accepts the end stations (10) and / or the paths (11) by teaching in a learning mode.Operating method according to Claim 11, characterized in that the control device (12), based on the paths (26) specified by teaching, smoothes the paths (26).Operating method according to one of the above claims, characterized in that the control device (12) stores positions (p) at which the device (1) is shut down, although they are not end stations (10), and additionally takes over such positions (p) as end stations (10) if the device (1) is shut down at the respective such position (p) a sufficient number of times - if appropriate within a predefined period of time.Operating method according to Claim 13, characterized in that the control device (12) also stores the associated routes to these positions (p) with respect to the positions (p) at which the appliance (1) is parked, although they are not end stations (10), and additionally takes over these routes as routes (11) if it takes over the associated position (p) as an additional end station (10).Control program for a control device (12) of a mobile medical device (1) which has a chassis (2) by means of which the device (1) can be moved on a ground (3) within a building (9), at least one drive (5) by means of which a travel movement of the device (1) can be effected or at least supported, and a direction influencing device (7) by means of which the direction of travel of the travel movement can be varied, wherein the control program comprises 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 carry out an operating method according to one of the above claims.Control device of a mobile medical device (1) which has a chassis (2) by means of which the device (1) can be moved on a ground (3) within a building (9), at least one drive (5) by means of which a travel movement of the device (1) can be effected or at least supported, and a direction influencing device (7) by means of which the travel direction of the travel movement can be varied, wherein the control device is programmed with a control program (13) according to claim 15, such that the control device executes an operating method according to one of claims 1 to 14 during operation.Mobile medical device, - wherein the device has a chassis (2), by means of which the device can be moved on a floor (3) within a building (9), - wherein the device has at least one drive (5), by means of which a travel movement of the device can be effected or at least supported, - wherein the device has a direction influencing device (7), by means of which the direction of travel of the travel movement can be varied, - wherein the device has a control device (12), by which both the drive (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 16.

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