Procedure for positioning a patient bed, patient bed and positioning arrangement

Abstract

The present invention relates to a method for positioning a mobile patient bed (1) relative to a stationary medical device (2), wherein the patient bed (1) comprises a control unit (5), a drive (4) and / or a steering system, wherein the drive (4) and / or the steering system can be controlled by means of the control unit (5) based on control signals, wherein the patient bed (1) has an optical sensor device (7) configured to capture at least one image (9) of a camera environment, wherein at least one first optical marker (11) is arranged in a floor area (10) in an environment of the medical device (2), characterized in that the sensor device (7) captures the first optical marker (11) in an image (9) and provides the image (9) to the control unit (5).wherein the control unit (5) determines a position and / or orientation of the patient stretcher (1) relative to the medical device (2) based on the provided image (9) of the first marker and / or the first marker (11) encompassed by the image, wherein the drive (4) and / or the steering is controlled to position the mobile patient stretcher (1) based on the determined position and / or orientation.

Description

[0001] The invention relates to a method for positioning a patient bed relative to a stationary medical device, wherein the patient bed comprises a control unit, a drive, and / or a steering system, the drive and / or steering system being controllable by means of the control unit based on control signals. The invention further relates to a patient bed for applying the method and a positioning arrangement comprising the patient bed.

[0002] Mobile patient couches are a well-known technology. They can either work in conjunction with a medical imaging system during image data acquisition or be operated independently of the imaging system.

[0003] To facilitate moving or maneuvering the patient stretcher, the chassis of the mobile patient stretcher can, for example, include four freely rotating casters, one at each corner of the stretcher, and a centrally located, aligned fifth wheel positioned between the casters. This fifth wheel is pressed against the ground by a spring mechanism and acts as a guide wheel. In manual operation, the fifth wheel allows the stretcher to be easily pushed straight ahead or around tight curves, and when stationary, it allows the stretcher to be rotated around the fifth wheel. Alternatively, for a motorized or autonomous operation, the fifth wheel can be equipped with a drive motor that can assist or independently move the stretcher. Currently, the operator is responsible for controlling the direction of movement by rotating the stretcher around the fifth wheel.The four trailing casters align themselves according to the direction specified by the user and follow the manual instructions. Such a patient bed is known, for example, from German utility model DE 202016007430.

[0004] Such mobile patient couches offer the possibility of placing a patient on the couch outside of an examination room, i.e., detached from the medical imaging system, and / or, for example, attaching the coils (e.g., head, extremity or body coils) that may be required for image data acquisition during a magnetic resonance examination.

[0005] The mobile patient bed must then be moved to the medical imaging system. As mentioned earlier, this requires an operator to either push the patient bed, with the patient on it, into the examination room and then, ideally, align it with a docking station of the medical imaging system, or the patient bed must move itself to the docking station.

[0006] The patient table must be moved to the docking point at the lowest possible speed to prevent or suppress any sudden impact. For operation with the medical imaging system, the patient table is often equipped with a docking device comprising a docking arm. In order for the docking process to begin and, if necessary, be mechanically or hydraulically assisted, the patient table, and especially the docking arm of the docking device, must be positioned at an angle within an acceptable range of -7° to +7°. Ideally, an angle of -2° to +2° should be achieved during approach to minimize lateral jerking caused by the automatic realignment of the patient table to 0° during the docking process.

[0007] Even moving a patient stretcher within a building and / or room can cause discomfort for the patient. Such movements often take place in confined spaces, which can lead to collisions with surrounding objects and / or the need for frequent forward, backward, and / or sideways maneuvering.

[0008] However, the inconveniences for the patient during the journey, especially when positioning themselves in front of the scanner and / or aligning themselves for docking, must still be accepted.

[0009] In contrast, the object of the present invention is to provide alternative means that allow for increased patient comfort when driving, steering, and / or positioning a mobile patient stretcher. In particular, the object of the present invention is to provide means that enable reliable and precise positioning of the patient stretcher at a medical facility.

[0010] This problem is solved by a method for positioning a patient bed, a patient couch, and a positioning arrangement. Preferred and / or alternative, advantageous embodiments are the subject of the dependent claims, the description, and the accompanying figures.

[0011] The inventive solution to the problem with regard to the claimed method is described below. Features, advantages, or alternative embodiments mentioned herein are also transferable to the other claimed subject matter and vice versa. In particular, claims (which, for example, relate to a method) may also be further developed with features described or claimed in connection with one of the devices. The corresponding functional features of the method are thereby realized by corresponding material modules or units.

[0012] Regardless of the grammatical gender of a particular term, persons with male, female or other gender identities are included.

[0013] The present invention relates in a first aspect to a method for positioning a patient bed relative to a stationary medical device, wherein the patient bed comprises a control device, a drive and / or a steering system, wherein the drive and / or steering system is controllable by means of the control device based on control signals, wherein the patient bed has an optical sensor device configured to capture images of a camera environment, wherein at least one first optical marker is arranged in a floor area in an environment of the medical device, characterized in that the sensor device captures the first optical marker in an image and provides the image to the control device, wherein the control device determines a position and / or orientation of the patient bed relative to the medical device based on the provided image of the first marker and / or the first marker encompassed by the image.The drive and / or steering of the mobile patient stretcher is controlled based on the specific position and / or orientation for positioning.

[0014] In the following, the subject of investigation is generally assumed to be a patient, usually a human being. However, the patient can also be an animal. Therefore, the terms "subject of investigation" and "patient" are used synonymously. Alternatively, the subject of investigation could be a plant or a non-living object, such as a historical artifact or the like.

[0015] The procedure specifically concerns a mobile patient bed capable of positioning itself relative to a stationary medical device, such as a CT scanner. This bed is designed to move in various directions and orient itself to specific positions. The procedure and / or the patient bed specifically stipulates that it can be controlled by a user, for example, by specifying a start and end point. Furthermore, the patient bed can be an autonomously moving patient bed, which can be controlled, for example, by a control unit.

[0016] The patient bed includes a control unit that communicates with a drive and / or steering system via data transmission. The control unit can control and / or regulate the drive and / or steering system. Preferably, the control unit can control the drive to brake, accelerate, and / or maintain a speed, and / or the control unit can control the steering system to steer the patient bed. The control unit receives and processes control signals to manage the movements of the bed. The drive and steering system enable precise movements and positioning of the bed within the medical facility.

[0017] The drive and / or steering of the patient bed are designed to be controlled based on the control signals received from the control unit. This allows for precise control and adjustment of the bed's movements to ensure accurate positioning.

[0018] Possible configurations of the drive and steering systems can include: • Chassis: The couch can be equipped with a robust chassis that allows for stable and smooth movement. The chassis may feature suspension systems that minimize shocks and vibrations to increase patient comfort. • Electric drive: Using electric motors to drive the lounger guarantees quiet and efficient movement. Electric motors also offer the advantage of precise control and regulation, which is crucial for the exact positioning of the lounger. • Steering system: The steering can be implemented using an electric or hydraulic system. An electric steering system could be sensor-based and allow for automatic adjustment of steering movements. A hydraulic steering system, on the other hand, could score points with its robust design and operate reliably, especially in demanding environments.

[0019] The patient bed is further equipped with an optical sensor device, which may be, for example, a camera. This sensor device is designed to capture images of the area surrounding the camera. The camera is positioned, in particular, so that it can detect the floor and / or a floor area. Specifically, the camera is positioned so that it can detect an area located longitudinally in front of the patient bed. For example, the camera has a detection direction, wherein the detection direction includes an angle of -10 degrees and -80 degrees with the horizontal and / or the forward direction of the patient bed, preferably an angle of -30 degrees and -60 degrees.

[0020] The optical sensor device captures at least one image, in particular images. The image shows the area around the camera and / or the medical equipment. The image shows the first optical marker. The first optical marker is located in the area around the medical equipment, in particular on the floor. The at least one optical marker serves in particular as a reference for positioning the examination table.

[0021] The sensor device detects the first optical marker in an image and provides this image to the control device. This enables the control device to analyze the first optical marker and determine its relative position, particularly with respect to the medical device. The image can be a color image, a grayscale image, and / or a black-and-white image. Specifically, the optical sensor device can be configured to capture and provide an image stream and / or video encompassing the image.

[0022] Based on the provided image of the first marker and / or the first marker encompassed by the image, the control unit determines the position and / or orientation of the patient stretcher relative to the medical equipment. This ensures that the stretcher can be precisely aligned and positioned. Specifically, based on the image of the first marker and / or the first marker encompassed by the image, the control unit determines an actual position and / or orientation. Based on this actual position and / or orientation and a target position and / or orientation, the control unit can then actuate the drive and / or steering so that the patient stretcher reaches and / or assumes the target position and / or orientation.

[0023] To position the mobile patient stretcher, the drive and / or steering system is controlled based on the specified position and / or orientation. This ensures precise positioning of the stretcher, so that the patient is optimally aligned for the medical examination. The control unit, drive, steering system, and optical sensor system work synergistically to enable precise and reliable positioning of the patient stretcher. The control unit analyzes the images captured by the sensor system and sends corresponding control signals to the drive and / or steering system to move and align the stretcher.

[0024] The integration of the optical sensor system and the first optical markers allows for highly accurate determination of the patient table's position and orientation. This enables more precise positioning of the patient relative to the medical equipment, such as a medical imaging system, and / or within the examination volume of the medical imaging system.

[0025] The described procedure and the associated patient table offer significant advantages for medical facilities, as they considerably improve patient positioning and alignment for diagnostic imaging procedures such as tomography or magnetic resonance imaging. This leads to greater accuracy in diagnostic images and improves patient comfort and safety throughout the entire procedure.

[0026] The patient table can have a docking device, which can interact with a docking point on the medical device. The docking system connects the patient table mechanically, electrically, and / or electronically to the medical device, such as a medical imaging system, and enables precise positioning of the patient table. This allows a patient lying on the table's support board to be positioned with millimeter accuracy within the imaging volume of the medical imaging system. Slots on the patient table, for example, for local coils on a magnetic resonance imaging (MRI) system, are typically connected via cables to the docking system or the docking device on the patient table, enabling the transmission of acquired measurement signals and / or transmitted signals to and from the medical imaging system.

[0027] The mobile patient stretcher can include a drive system and / or steering mechanism, and in particular, the drive system and / or steering mechanism can be part of the chassis. The chassis of the patient stretcher preferably comprises a plurality of wheels, i.e., at least two, preferably at least four, and particularly preferably more than four. The wheels are designed to enable the patient stretcher to be moved, and the wheels are preferably driven by the drive system and / or steerable by the steering mechanism.

[0028] Preferably, the four wheels are positioned at the corners of the support structure to achieve optimal stability of the patient stretcher. If the patient stretcher is moved manually, for example, using a handle positioned transversely to the stretcher's longitudinal axis, the caster wheels advantageously align themselves according to the manual direction, and the patient stretcher moves in the desired direction.

[0029] The method according to the invention serves to position a mobile patient stretcher, particularly relative to a stationary medical facility. The patient stretcher is designed for positioning a patient. In particular, the mobile patient stretcher is a self-propelled and / or steerable patient stretcher. The patient stretcher preferably comprises a drive and / or a steering system. The drive is configured to propel, accelerate, and / or decelerate the mobile patient stretcher. The steering system is configured to steer the patient stretcher and / or its wheels.

[0030] The patient stretcher includes a control unit. This control unit can be a hardware or software module. The control unit is designed to control, regulate, and / or supply control signals to the drive and / or steering of the patient stretcher. The mobile patient stretcher is preferably autonomous, mobile, and / or steerable. Furthermore, the mobile patient stretcher can be a hybrid patient stretcher that can be operated both autonomously and user-controlled. For example, the user can independently control, steer, and / or regulate the speed of the patient stretcher in straightforward situations, and, conversely, operate it autonomously in more complex situations.

[0031] The procedure is used in particular for positioning the mobile patient bed relative to a stationary medical facility.

[0032] A stationary medical device can be, for example, an imaging unit, specifically a computed tomography (CT) scanner, an X-ray unit, or a magnetic resonance imaging (MRI) scanner. Alternatively and / or additionally, a stationary medical device can be a treatment unit, such as a linear accelerator for radiation therapy or another type of treatment unit. A stationary medical device is located in a fixed position within an environment and / or room.

[0033] The procedure involves automatically and / or autonomously positioning the mobile patient stretcher in a target position and / or orientation relative to the stationary medical equipment. For example, the mobile patient stretcher is then to be connected to the stationary medical equipment. The procedure positions the mobile patient stretcher so that it is aligned with and / or adjacent to the stationary medical equipment, enabling connection and / or allowing necessary examinations and / or treatments to be performed. The procedure aims to ensure that the positioning process is as comfortable, safe, and quick as possible for the patient.

[0034] The mobile patient stretcher comprises at least one optical sensor device. Specifically, the patient stretcher preferably comprises at least two optical sensor devices. In addition to the optical sensor devices, the patient stretcher may include other sensor devices, such as distance measuring devices, collision warning systems, and acceleration and / or velocity sensors. The optical sensor device comprises and / or forms, for example, a camera, in particular a color camera. The optical sensor device and / or the camera has sensor device parameters and / or camera parameters that describe, for example, the imaging and detection parameters of the optical sensor device. The sensor device and / or camera parameters are preferably provided to the sensor device and / or the control device.

[0035] The optical sensor device is configured to detect and / or record a sensor environment. In particular, the optical sensor device is configured to detect at least one image, a plurality of images, an image sequence, and / or a video of a camera environment. The camera environment is generally also to be understood as a sensor environment. The sensor environment is the area that can be detected and / or displayed by the sensor device in an image. Preferably, the optical sensor device is arranged such that the detectable camera environment is oriented in the direction of travel and / or the direction of travel. In particular, the optical sensor device is configured to detect a ground area and / or an area in the direction of travel or forward direction as an image.

[0036] The medical device comprises an environment in which initial optical markers are arranged. When optical markers are mentioned here and in the following, this refers to both a single optical marker and multiple optical markers. Specifically, the method is feasible if one optical marker, a second optical marker, and / or a further optical marker are detected by the sensor device and evaluated by the control device. In particular, at least one optical marker is arranged in the environment of the medical device. The environment of the medical device in which the initial optical marker(s) are arranged is preferably located in front of the medical device, with "in front of the medical device" specifically describing the area where the mobile patient stretcher is to be positioned and / or is arranged in a coupled state.The environment of the medical device in which the optical marker(s) are arranged is located, in particular, at a distance of less than one meter, preferably less than 0.5 meters, from the medical device.

[0037] The sensor device captures at least one image, multiple images, an image sequence, and / or a video of the camera's surroundings, wherein at least one of these images, multiple images, and / or the image sequence and / or the video captures the ground area in the vicinity of the medical device. In other words, at least one image shows the optical marker(s) arranged in the vicinity of the medical device, specifically in the ground area in the vicinity of the medical device. Preferably, at least one image shows the entire optical marker(s); alternatively, an image shows at least 50% of the optical marker(s). The optical sensor device is configured to provide at least one, a plurality, or all of the captured images showing the ground area in the vicinity of the medical device and / or the first optical marker(s) to the sensor device. This provision is particularly effective as image data, for example, as an image stream.

[0038] The at least one image shows the optical markers and / or the detected optical marker detected by the optical sensor device, in particular from the position and / or perspective of the optical control device, especially the camera. The optical markers and / or the optical marker shown and / or encompassed in the image may appear altered compared to their actual geometry, shape, and / or size, in particular stretched, compressed, rotated, distorted, and / or misaligned. In particular, the altered appearance is based on the sensor device parameters and / or the camera parameters.

[0039] The control unit is provided with the image(s), particularly in the form of image data. The control unit is designed to evaluate the image(s) showing the ground area surrounding the medical device and / or the first optical marker(s) and / or to use them for controlling the mobile patient stretcher, in particular its drive and / or steering.

[0040] In particular, the control unit may be designed to process the provided images in a preprocessing stage, for example to improve or reduce image quality, to optimize the evaluation areas and / or to reduce image errors.

[0041] The control unit controls and / or regulates, based on the provided image(s) showing the marker(s), specifically based on the first marker(s) included in the image(s), to determine a position and / or orientation of the patient table, particularly relative to the medical device and / or relative to the optical first markers. For example, based on the control unit parameters and / or the camera parameters, as well as the provided image(s), the control unit determines a relative position and / or orientation with respect to the optical markers and / or the medical device. This determination may, for example, be based on what the relative position and / or orientation must be so that the image of the optical marker(s) in the image(s) corresponds to the representation of the optical first marker(s).Based on this specific position, orientation, and / or orientation, the control unit directs the drive and / or steering. Specifically, the steering and / or drive is controlled so that the mobile patient stretcher moves closer to its surroundings and / or the ground, particularly the first optical marker.

[0042] In an optional embodiment, at least one, and in particular several, second optical markers are provided. The second optical marker(s) may be designed similarly to the first optical marker(s). For example, they may have the same geometric shape and / or structure. The second optical marker(s) are preferably smaller than the first optical marker(s), in particular at least half the size, and specifically at least 10% the size. The second optical marker(s) are arranged on the medical device. In particular, they are located in the front region of the medical device. Specifically, the second optical marker(s) are positioned in the lower region of the medical device, the lower region being, for example, the lower third of the medical device.Preferably, the second optical markers are located near or aligned with the first optical markers.

[0043] The sensor device is configured to capture or record at least one image or multiple images of the second optical markers. Specifically, the sensor device can be configured to capture both the first and second optical markers in a single image and provide them to the control unit. The sensor device is arranged so that, as the patient stretcher approaches to reach the target position and / or orientation, both the first and second optical markers are captured. The sensor device is configured to provide the control unit with the image, including and / or showing the second optical marker(s). As with the first optical markers, the second optical markers are shown in the image as they are captured and / or depicted based on their position, orientation, perspective, and the parameters of the sensor device.Based on knowledge of the sensor setup parameters, the control unit can determine a relative position and / or orientation of the patient bed to the second optical markers and thus to the medical equipment.

[0044] While the first optical markers primarily serve for the coarse positioning and / or orientation of the patient stretcher, the second optical markers allow for the precise determination of the stretcher's position and / or orientation relative to the medical equipment and / or the optical markers. Based on this precise position and / or orientation, the control unit is designed to activate the drive and / or steering mechanism of the patient stretcher for positioning. Specifically, the drive and / or steering is activated based on the initial position and / or orientation determined by the first markers and the precise position and / or orientation determined by the second marker.It is particularly preferred that the control unit determines the position, fine position, orientation and / or alignment based on an image showing the first and second optical markers, and controls the drive and / or steering based on this.

[0045] This design allows for precise, automated, and patient-friendly positioning of the patient bed. In particular, the intended arrangement of the first and second markers minimizes disruption to the surroundings, making it less bothersome and / or unsettling for staff and / or patients.

[0046] In a particularly preferred embodiment, the control unit is designed to control the patient stretcher, especially its drive and / or steering, differently in a remote and a near range, particularly based on different information, data, and / or parameters. The remote range is, for example, an area with a distance greater than 1.5 meters, specifically greater than 2 meters, from the stationary medical equipment, the target position, and / or the floor area where the first markers are located. The near range is preferably an area with a distance less than 1.5 meters, specifically less than 1 meter, from the floor area where the first markers are located, and / or from the target position, and / or from the stationary medical equipment.It can be provided that the control unit controls the drive and / or steering of the patient stretcher in the remote range based on the determined position and / or orientation determined by the first markers. Furthermore, it is preferably provided that the control unit controls the steering and / or drive in the near range based on the determined fine position and / or fine orientation, specifically based on the position and / or orientation determined by the first markers and the fine position and / or fine orientation determined by the second marker. In other words, it is provided, for example, that the control of the drive and / or steering by the control unit in the remote range is carried out without fine position and / or fine orientation, in particular without recourse to the evaluation of the second markers.This design enables particularly efficient, fast and precise control.

[0047] It is particularly preferred that the control unit is configured to determine a trajectory for the mobile patient stretcher. The trajectory describes, for example, the path, in particular the settings such as speed and / or acceleration, to the stationary medical equipment, especially for positioning relative to and / or at the medical equipment. The control unit preferably determines the trajectory based on the image(s) showing the first and / or second markers. Based on the first and / or second markers shown in the image and with knowledge of the sensor equipment parameters, the trajectory is determined. In particular, the trajectory runs from an actual position to a target position. The target position is, in particular, the position in which the mobile patient stretcher is to be positioned and / or oriented.Preferably, the control unit determines the trajectory to describe the shortest, most uniform, least curved, and / or most patient-friendly path possible. In other words, the trajectory is preferably determined to minimize vibrations, lateral accelerations, and / or longitudinal accelerations, and / or to avoid contact with any objects in the vicinity. The target position is particularly preferably a position in which the patient stretcher is docked to the stationary medical equipment. The control unit is configured to actuate the drive and / or steering, especially of the patient stretcher, based on the determined trajectory, so that the patient stretcher arrives at and / or is positioned in the target position and / or orientation.

[0048] In an optional embodiment of the invention, at least one further optical marker is provided. Hereinafter, the plural "further optical markers" will be used. The further optical markers are preferably similar or identical in structure, shape, and / or type to the first and / or second optical markers. The further optical markers are, for example, arranged on a wall, on walls, and / or on objects and / or other items in the vicinity of the medical device. In particular, the further optical markers are positioned near the floor on the wall or walls and / or objects. The sensor device is configured to detect the further optical markers in an image. For example, one or more optical markers, including the further optical markers, are captured along with the first and / or second optical markers in an image.In other words, a captured image provided to the control unit can show and / or depict the first, second, and subsequent optical markers. The control unit is configured to determine environmental information based on the image that includes the subsequent optical markers. For example, the environmental information is encoded and / or contained within the subsequent optical markers. This environmental information may include, for example, information about the room, floor, or other surroundings. In particular, the environmental information may also include information regarding the medical equipment and / or obstacles in that area. Based on the environmental information and / or the image provided by the subsequent markers, the control unit is configured to control the steering and / or propulsion of the patient stretcher.

[0049] It is particularly preferred that the first, second, and / or subsequent optical markers form an optical code. For example, the optical code forms a specific code. The optical markers are, for example, designed and / or structured according to a predefined pattern and / or layout. The optical markers and / or the optical code contain and / or encode marker information. In other words, the first, second, and / or subsequent optical markers each contain marker information, which is encoded within the optical markers. In particular, the marker information encoded in the optical markers differs between the individual optical markers. The marker information can, for example, include information about the marker type, such as first marker, second marker, or subsequent marker.Alternatively and / or additionally, the marker information can include information regarding position, orientation, medical equipment, and / or other information necessary for determining the trajectory or positioning the patient bed. The optical markers are, in particular, planar and / or two-dimensional. Preferably, the first, second, and / or subsequent optical markers, hereinafter referred to simply as optical markers, form a regular geometric figure and / or have a regular geometric shape. For example, the optical markers have a square, rectangular, triangular, or polygonal shape.

[0050] The optical markers preferably comprise a plurality of marker elements. Preferably, the number of marker elements is equal to or limited by a maximum number. Preferably, the marker elements define the geometric shape of the optical markers and / or their arrangement is determined by their geometric shape. For example, the regular geometric shape of the optical markers defines marker element positions at which marker elements are and / or can be arranged. Thus, the absence of a marker element at such a target position can also contribute to the encoding in the optical code. Preferably, an optical marker comprises exactly or at least four marker elements. The marker elements have a simple geometric shape and / or form a simple geometric figure, for example, a circle, a rectangle, and / or a regular polygon.

[0051] Specifically, all marker elements may form the same geometric shape. Alternatively, marker elements within an optical marker may differ in their geometric shape and / or form. The marker elements are positioned and / or arranged within the geometric shape of the optical marker according to an arrangement scheme; for example, they are preferably positioned at the corners of the geometric shape. The marker information is encoded in the optical marker through the type and / or arrangement of the marker elements. By capturing the optical markers in an image, the control unit can decode the marker information and use it for control purposes, particularly for positioning the patient bed.

[0052] In a particularly preferred embodiment, the optical marker is designed to form and / or have a regular geometric shape, in particular a rectangle and / or a square. The regular geometric shape has corner regions, in particular corresponding to the number of corners of the geometric figure. It is preferably provided that the marker elements are arranged in these regions and / or at locations where they are arranged, in particular such that no marker elements are expected and / or provided in the intermediate regions. By arranging the marker elements in the corner regions, the geometric shape of the optical markers can be defined and / or fixed, so that a relative position and / or orientation can be determined by the control device by evaluating the geometric shape in the captured images.In particular, by specifying the arrangement of the marker elements on corner areas, the absence of a marker element can also be used for encoding, provided that the regular geometric shape of the optical marker is still uniquely defined by the other existing marker elements.

[0053] It is particularly preferred that the marker elements differ partially in their shape, size, and / or color. For example, the marker information can be encoded by the differences in shape, size, and / or color of the marker elements used. For example, circles, triangles, and / or rectangles can be used to differentiate the marker elements. Furthermore, the marker elements can differ in their color. Specifically, this can also be achieved through color-filled marker elements or through outline and unfilled marker elements. The color differentiation is preferably based on the RGB color model. Alternatively and / or additionally, marker elements of different sizes can be used to encode the marker information.

[0054] Optionally, the control unit can determine the marker information encoded in the first, second, and / or subsequent markers based on the provided image, particularly the first, second, and / or subsequent markers encompassed by the image. The control unit can then use this marker information to position the mobile patient stretcher, control the drive and / or steering, and / or determine the trajectory. In other words, the control unit can utilize the marker information encoded in the markers for positioning, control, and / or trajectory determination. For example, the marker information may include information about obstacles, offset parameters, and / or positioning tips.

[0055] It is particularly preferred that the first optical markers are larger than the second and / or subsequent optical markers. Specifically, the first optical markers are at least twice, and in particular at least ten times, larger than the second or subsequent optical markers. This is based on the consideration that the first optical markers are located in a floor area and are used by the sensor system for the initial coarse positioning and / or orientation of the patient bed, while the second and / or subsequent optical markers are used later for fine positioning and / or fine orientation. During fine positioning and / or fine orientation, it is expected that the patient bed, and thus the sensor system, will already be closer to the medical equipment and can therefore use smaller optical markers for detection and evaluation.Such optical markers are perceived as less disruptive and can be installed in small areas and / or without restricting medical facilities. Larger optical markers in the floor area, like the first type, are also perceived as less disruptive because, due to their size and use of simple marking elements, their function as markers is not automatically inferred by the patient.

[0056] It is particularly preferred that the first and second optical markers are aligned with respect to the longitudinal direction of the patient bed in its target position, especially when positioned and / or docked. In other words, when viewed longitudinally along the patient bed, with the bed in its target orientation and / or position, the first and second markers are in a straight line. This is based on the consideration that, as the patient bed approaches the medical device already in its target orientation, both the first and second markers can be detected. Specifically, the relative arrangement of the first and second optical markers allows for better and more accurate determination of the trajectory and / or positioning of the patient bed.

[0057] Another aspect of the invention is a patient bed, wherein the patient bed has a steering mechanism and / or a drive system. The patient bed is, in particular, a motorized and / or at least partially autonomous patient bed. The patient bed has a control unit, wherein the control unit is configured to control the steering mechanism and / or the drive system of the patient bed for positioning the patient bed.

[0058] Furthermore, the patient bed has a sensor device. The sensor device is an optical sensor device and includes, for example, a camera. The sensor device is configured to capture images of the camera's surroundings, in particular images comprising and / or showing a first optical marker, a second optical marker, or further optical markers. The sensor device is configured to provide the captured images, in particular a captured image comprising and / or showing the first optical marker, the second optical marker, and / or further optical markers, to the control unit.

[0059] The control unit is designed to actuate the patient bed, drive, and / or steering system based on the provided image showing the first, second, and / or third markers, the patient bed, the drive, and / or the steering system, for example, by determining a relative position and / or orientation of the patient bed to the medical device, the optical first, second, or further markers. In particular, the patient bed, the sensor device, and / or the control unit are designed to carry out the previously described method according to the invention. In other words, the patient bed implements and / or enables the method according to the invention.

[0060] It is particularly preferred that the patient bed includes and / or has a camera as a sensor device. The camera is designed to capture the image and / or images. The camera has a detection direction, for example, a recording or viewing direction. The camera and / or the sensor device is arranged such that the detection direction points forward in the direction of travel. In particular, the camera and / or sensor device can be arranged with its detection direction inclined downwards so that at least a portion of the floor area is captured. This arrangement makes it possible for the camera to capture and / or record both first markers located in the floor area and second markers located on the medical device.

[0061] A further aspect of the invention is a positionable arrangement. The positionable arrangement comprises the patient bed, in particular the patient bed according to the invention, and a stationary medical device, for example in the form of an imaging device or a treatment device. First optical markers are arranged in a floor area in the vicinity of the medical device as described above. Furthermore, second optical markers can be arranged on the medical device. The patient bed, in particular the sensor device, is configured to capture at least one image and provide it to the control device, wherein this image shows and / or depicts the first optical markers and / or the second optical markers. The patient bed and / or the control device and / or the sensor device is configured to enable, implement, and / or execute the method according to the invention.

[0062] Further advantages, effects, and features are shown in the attached figures and their descriptions. These illustrate: Fig. 1 an arrangement comprising a mobile patient bed and a stationary medical facility; Fig. 2a, b a further arrangement comprising a mobile patient bed and a stationary medical facility; Fig. 3a, b a further arrangement comprising a mobile patient bed and a stationary medical facility; Fig. 4a, b a further arrangement comprising a mobile patient bed and a stationary medical facility; Fig. 5 two (coordinate) systems; Fig. 6 Some examples of optical markers; Fig. 7 a block diagram for a procedure for positioning a patient bed.

[0063] Fig. Figure 1 shows an arrangement comprising a mobile patient stretcher 1 and a stationary medical device 2 for carrying out the procedure for positioning the mobile patient stretcher. The mobile patient stretcher 1 includes wheels 3 which can be operated and controlled by a steering and / or drive 4. The steering and / or drive 4 are connected to a control unit 5, so that the control unit 5 can control the drive 4 and / or the steering by means of control signals. The control unit 5 can be a hardware or a software module.

[0064] The patient bed 1 comprises a lying board 6 on which a patient can be positioned. The lying board 6 defines, in particular, a longitudinal direction L of the patient bed 1, which extends, for example, from a foot area to a head area. Furthermore, the patient bed 1 defines a forward direction V. The forward direction V is, in particular, parallel to the longitudinal direction L.

[0065] The mobile patient stretcher 1 includes an optical sensor device 7. This device is configured as a camera or includes a camera. The optical sensor device 7 is connected to the control unit 5 via data transmission and / or signal transmission. The optical sensor device 7 has a detection range 8 that points at least partially in the forward direction V. Specifically, the optical sensor device 7 can be arranged such that the detection range 8 is inclined towards the floor. The optical sensor device 7 is configured to capture at least one image 9 of the detection range 8.

[0066] For example, part or all of the stationary medical facility 2 is located in the detection area 8 and is therefore included or shown in Figure 9.

[0067] In the floor area 10, which is located between the patient bed 1 and the stationary medical equipment 2, a first optical marker 11 is arranged. This marker 11 is thus located within the detection area 8 and is detected by the optical sensor device 7. The optical sensor device 7 therefore captures an image 9, which shows the first optical marker 11 and partially the stationary medical equipment 2.

[0068] The captured image 9 is provided to the control unit 5. In other words, the control unit 5 receives the image 9, which shows the optical marker 11, from the perspective of the optical sensor unit 7. The control unit 5 is configured to determine the position and / or orientation of the patient bed 1 relative to the medical device 2 based on the provided image 9 and knowledge of the shape, size, and / or structure of the optical marker 11.

[0069] Fig. Figure 2a shows a similar arrangement of a mobile patient stretcher 1 and a stationary medical device 2 for carrying out the procedure for positioning the patient stretcher 1 in a top view. The stationary medical device 2 is located in a room 12, also called an examination room.

[0070] Room 12 is accessible via door 13. A patient who is to be examined using the stationary medical facility 2 can be brought to medical facility 2 using the mobile patient stretcher 1. For this purpose, the patient stretcher 1 can be moved through door 13.

[0071] The method of the invention can be used to position the patient bed 1 and thus the patient at the medical device 2, in particular to dock the patient bed 1 to the medical device 2.

[0072] In Fig. 2a The mobile patient stretcher 1 is located in a distant area 14 from the stationary medical facility. The distant area 14 is, for example, an area with a distance of more than 1.5 m from the stationary medical facility. Furthermore, there is a near area 15, which is, for example, less than 1.5 m from the stationary medical facility 2.

[0073] In the arrangement shown, Fig. 2a The optical sensor device 7 detects the first optical marker 11, which is located on the floor. The first optical marker 11 comprises four marker elements 15. The optical sensor device 7 thus captures an image 9 showing the first optical marker 11 or the marker elements 16. Based on this image 9, known optical parameters of the sensor device, and knowledge of the shape, geometry, size, and / or structure of the marker 11, the control device 5 determines a relative orientation and / or position of the patient bed 1 to the stationary medical equipment 1. For this purpose, the control device can, for example, determine an angle α, which describes the angle between a target orientation and the forward direction V. The shape, geometry, size, and / or structure of the marker 11 can, for example, refer to knowledge of the shape in which the marker elements 16 are arranged, e.g.square, and / or shape, color and / or spacing of the marking elements 16 are understood.

[0074] Furthermore, the control device 5 can be configured to determine a distance d, which describes the distance of the patient bed 1 from a center point M of the marker 11. Based on the offset Δ between center point M and stationary medical equipment 2, as well as the distance d, the control device 5 can determine the relative position and / or orientation.

[0075] Fig. Figure 2b shows image 9, taken by the optical sensor device 9. Image 9 shows the floor area 10, the stationary medical device 2, and the first marker 11 from the perspective of the optical sensor device 7. In a top view, the optical marker 11 is a square shape with marker elements 16 arranged at each corner. In image 9, the first marker is not shown as a square, but distorted. Based on the imaging parameters of the sensor device 7 and knowledge of the structure of the marker 11, its relative orientation and / or position can be determined. For this purpose, a reference system K1, comprising the axes X, Y, and Z, can be used by the optical marker 11. For example, the origin of this reference system K1 can be located at the center point M. The Z axis defines a vertical direction.

[0076] Fig. Figure 3a shows the arrangement of patient bed 1 and medical equipment 2. Fig. 2a, where the patient bed 1 is located in the immediate vicinity 15. At least one second optical marker 17 is arranged on a front side of the stationary medical device 2. This second optical marker 17 also comprises four marker elements 16, arranged in a square. Based on the arrangement of the marker elements 16, a reference system K2 can be defined, which includes the axes X', Y', and Z'.

[0077] The optical sensor device 7 is designed to capture at least one image 9.

[0078] Image 9 ( Fig. Figure 3b) shows the second optical marker 17 from the perspective of the optical sensor device 7. From the perspective of the optical sensor device 7, the four optical marker elements 16 do not form a square, but a distorted polygon. Based on the optical parameters of the sensor device 7 and the knowledge that the marker elements 16 are arranged in a square, the control device 5 can determine the relative orientation and / or position of the patient bed 1. In the near range 15, the position and / or orientation is determined as a fine position and / or fine orientation, which is more precise than the determination of the orientation and / or position in the far range 14. The control device 5 can control the patient bed 1, in particular the drive, based on the determined position, orientation, fine position, and / or fine orientation.For example, based on the specified positions and / or orientations, a trajectory is determined which leads the patient bed to a target position and / or target orientation.

[0079] Fig. 4a shows the arrangements from Fig. 2a and Fig. 3a, where the patient bed 1 is positioned in its target position and / or orientation relative to the stationary medical device 2. The target position and / or orientation is such that the patient bed 1, with its longitudinal direction L and / or forward direction V, is aligned with an insertion direction of the medical device 2. The patient bed 1 and the stationary medical device 2 can be connected, for example, via interfaces.

[0080] Fig. Figure 4b shows the second optical marker 17 together with the reference system K2 and the axes X', Y', and Z'. The optical marker elements 13 of the second marker 17 are arranged in a square in Figure 9, and thus from the perspective of the optical sensor device 7, and are therefore not distorted. Furthermore, a sensor system K can be seen in Figure 9 and / or for the sensor device 7. S The axes X'', Y'', and Z'' are defined. When patient bed 1 is in its intended position and / or in a coupled or docked state, the axes X, X', X'', Y, Y', Y'', Z, and Z'' are parallel and / or aligned.

[0081] To illustrate the different systems K1, K2, K S is in Fig. Figure 5 shows a first marker 11 with marker elements 13 and axes X, Y and Z. The optical sensor device 7 with its detection range defines the system K. Swith the axes X'', Y'' and Z''. Depending on the position and orientation of the sensor device 7 on the marker 11, the systems K1 and K S rotated and / or tilted relative to each other. Based on the imaging parameters of the sensor device 7 and the knowledge of the structure of the marker 11, the orientation between the systems K1 and K can be determined. S determined by the control unit 5.

[0082] Fig. Figure 6 shows different variants of optical markers that can be used as first marker 11, second marker 17, or further optical markers. These markers serve as coding elements and encode information, such as marker information. The coding is based in particular on the use of various marker elements 13. For clarity and to illustrate the structure, the different markers and codes are shown in Figure 6. Fig. 6 divided into four quadrants I, II, III and IV.

[0083] The optical markers are essential components for the precise positioning and alignment of the patient bed 1 in relation to the medical facility 2. Each optical marker comprises four marking elements 13, which are arranged in the corners of a square.

[0084] The marker elements 13 and 14 are arranged in a square, with each element 13 positioned at one of the four corners. This arrangement allows for a clear definition of the marker structure and supports correct detection by the optical sensor device 7.

[0085] Various shapes and colors of marker elements 13 can be used to encode information and define the orientation of a marker. In the present embodiment, the marker elements 13 differ in their shape—they are either circular or square—and in their color. The colors of the marker elements are particularly important and are preferably defined and measured on the hue scale. This scale is advantageous for encoding and decoding compared to the RGB scale. In this system, two different colors are preferably used: orange and turquoise. This color choice is based on specific requirements such as branding, brand concept, design, or corporate identity to minimize visual interference.

[0086] By using different shapes and colors, each of the four positions in a marker offers four possible combinations. This results in a total of 4 x 4 x 4 = 256 possible combinations, which corresponds to an 8-bit encoding. This variety enables efficient and accurate information transfer and processing within the system.

[0087] Quadrant I shows markers intended for wall mounting, particularly at floor level. These markers encode information about the respective room, such as a room number, room type, or other room-specific data. The markers can, for example, form further markers according to the invention. The control unit 5 can use this information to verify that it is in the correct room. It can also load a floor plan to detect and account for obstacles.

[0088] Quadrant II displays markers intended for ceiling mounting. These markers may contain information about ceiling-mounted equipment, such as C-arms. This information is important because such equipment can present potential obstacles. The control unit 5 can use this data to adjust the navigation of the patient stretcher 1 accordingly.

[0089] In quadrant III, the first optical markers 11 for placement in front of medical equipment 1 and / or on the floor are shown. These markers 11 can, for example, encode the offset Δ, i.e., the distance between the center of the optical marker 11 and medical equipment 2. Furthermore, they can encode information about the stationary medical equipment 2 itself, such as the type of equipment (e.g., CT or MRI). This information is used by the control unit 5 for the precise positioning and orientation of the patient table 1 relative to medical equipment 2.

[0090] Quadrant IV shows second optical markers 17 attached to the medical device 2. These markers 17 can contain information for coupling, such as interfaces, or for the more precise positioning of the patient or the patient table 1. For example, the height of the bore of an MRI or CT scanner, or other mechanical interfaces, can be encoded. This data is crucial for the precise alignment and docking of the patient table 1 to the medical device 2.

[0091] In Fig. Figure 7 shows a block diagram describing the procedure for positioning a mobile patient stretcher 1. The procedure comprises the following steps: • Step 100: Environment detection. The optical sensor device 7 of the patient bed 1 captures images of the camera's surroundings. In these images 9, the first optical markers 11, arranged in the floor area 10 around the medical device 2, are visible. • Step 200: Image processing. The sensor unit 7 forwards the captured image to the control unit 5. This analyzes the image 9 to determine the position and / or orientation of the patient bed 1 relative to the medical device 2, based on the detected markers 11. • Step 300: Position determination. The control unit 5 calculates the position and / or orientation of the patient bed 1 based on the information contained in Figure 9. The relationship between the markers 11 and the patient bed 1 is taken into account. • Step 400: Control of movement. Based on the calculated position and orientation data, the control unit 5 controls the drive and / or steering 6 of the patient stretcher 1 to position it precisely. • Step 500: Refinement and adjustment. Further corrections are made if necessary. The sensor unit 7 can continue to capture images and send them to the control unit 5 to ensure continuous adjustment of the position and orientation of the patient bed 1. This can be done, for example, based on the second optical marker or other optical markers. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 202016007430

[0003]

Claims

[1] Method for positioning a mobile patient stretcher (1) relative to a stationary medical device (2), wherein the patient stretcher (1) comprises a control device (5), a drive (4) and / or a steering system, wherein the drive (4) and / or the steering system is controllable by means of the control device (5) based on control signals, wherein the patient stretcher (1) has an optical sensor device (7) configured to capture at least one image (9) of a camera environment, wherein at least one first optical marker (11) is arranged in a floor area (10) in an environment of the medical device (2), characterized by, that the sensor device (7) detects the first optical marker (11) in an image (9) and provides the image (9) to the control device (5), wherein the control device (5) determines a position and / or orientation of the patient stretcher (1) relative to the medical device (2) based on the provided image (9) of the first marker (11) and / or the first marker (11) encompassed by the image, and wherein the drive (4) and / or the steering is controlled to position the mobile patient stretcher (1) based on the determined position and / or orientation. [2] Method according to claim 1, characterized by, wherein at least one second optical marker (17) is arranged on the medical device (2), wherein the sensor device (7) detects the second optical marker (17) in an image (9) and provides the image (9) to the control device (5), wherein the control device (5) determines a fine position and / or fine orientation of the patient stretcher (1) relative to the medical device (2) based on the provided image (9) of the second marker (17) and / or the second marker (17) encompassed by the image (9), wherein the drive (4) and / or the steering is controlled based on the determined fine position and / or fine orientation to position the mobile patient stretcher (1). [3] Method according to claim 2, characterized by, that the control unit (5) for positioning the mobile patient stretcher (1) in a remote area (14) controls the drive (4) and / or the steering based on the specified position and / or orientation, and for positioning the mobile patient stretcher (1) in a near area (15) controls the drive (5) and / or the steering based on the specified fine position and / or fine orientation [4] Method according to any one of the preceding claims, characterized by, that the control device (5) is configured to determine a trajectory for the patient stretcher (1) based on the provided image (9) of the first marker, the provided image (9) of the second marker (17) and / or the first and / or second markers (11, 17) encompassed by the image (9), wherein the trajectory describes a shortest, uniform, straight and / or patient-friendly path of the patient stretcher (1) to the stationary medical equipment (2), in particular to dock the patient stretcher (1) to the medical equipment (2), wherein the control device (5) controls the drive (4) and / or the steering based on the determined trajectory. [5] Method according to any one of the preceding claims, characterized by, that at least one further optical marker is arranged on walls and / or objects in the vicinity of the medical device (2), wherein the sensor device (4) detects the further optical marker in an image (9) and provides the image (9) to the control device (5), wherein the control device (5) determines environmental information based on the provided image (9) of the further marker and / or the further marker encompassed by the image (8), and the control device (5) controls the drive (4) and / or the steering for positioning the mobile patient stretcher (1) based on the environmental information [6] Method according to any one of the preceding claims, characterized by, that the first, second and / or further optical markers (11, 17) form an optical code and the optical code includes and / or encodes marker information, wherein the first, second and / or further optical markers (11, 17) form a square, rectangular or regular geometric shape and include a predetermined number of marker elements (16), wherein the marker elements (16) represent simple geometric figures and are positioned in a defined arrangement scheme, wherein the marker elements (16) and / or the arrangement of the marker elements (16) encode the marker information. [7] Method according to claim 6, characterized by , that the regular geometric shape of the optical markers (11, 17) has corner regions, wherein marker elements (16) are arranged in the corner regions and / or the marker elements (16) are arranged in the corner regions. [8] Method according to claim 6 or 7, characterized bythat the marker elements (16) for encoding the marker information differ at least partially in their shape, size and / or color. [9] Method according to any one of claims 6 to 8, characterized by , that the control unit (5) determines the marker information based on the provided image (9) of the first, second and / or further markers (11, 17) and / or the first, second and / or further markers (11, 17) encompassed by the image (9), wherein the control unit (5) controls the drive (4) and / or the steering based on the marker information to position the mobile patient stretcher (1) and / or determines the trajectory based on the marker information. [10] Method according to any one of claims 2 to 9, characterized by , that the first optical marker (11) is larger than the second and / or further optical markers (17). [11] Method according to any of the preceding claims characterized by, that the first and second optical markers (11, 17) are aligned with respect to a longitudinal direction (L) of the patient bed (1) in the positioned and / or docked state. [12] Patient couch (1) with an optical sensor device (7) and a control device (5), characterized by that the sensor device (7) and the control device (5) are configured to perform and / or apply the method according to one of the preceding claims. [13] Patient couch (1) according to claim 12, characterized by , that the sensor device (7) comprises a camera for recording and / or capturing the image (8), wherein the camera has a detection direction, wherein the camera is arranged with the detection direction aligned with the longitudinal direction (L) of the patient bed (1). [14] Positioning arrangement comprising the patient bed (1) according to claim 12 or 13, a medical device (2) and at least one first optical marker (11), wherein the first optical marker (11) is arranged in a floor area in a vicinity of the medical device (2), wherein the patient bed (1) is configured to apply and / or execute the method according to any one of claims 1 to 11.

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