MOBILE MEDICAL DEVICE AND PROCEDURE

Description

[0001] The invention relates to a mobile medical device with a device cart that can be moved with motor assistance in at least two movement modes according to claim 1, and to a method for providing operating support for such a mobile medical device according to claim 11.

[0002] Mobile X-ray units mounted on trolleys and equipped with wheels, allowing them to be moved across hospital floors, offer exceptional flexibility in their use across various areas and rooms. Practically speaking, these units must be easy to maneuver manually; in particular, they must be steerable, controllable, and braked by a single operator. Furthermore, it is essential that the unit is easy to control during movement and that the necessary control mechanisms allow for a compact design, minimizing the unit's footprint.

[0003] Newer mobile, hand-operated X-ray devices feature motorized mobility to make it easier for the operator to use or transport the device.

[0004] Furthermore, modern manually operated, motorized X-ray units have multiple degrees of freedom, depending on the type, design, and arrangement of their wheels. Depending on the context of use, it is desirable to prioritize or disable certain degrees of freedom. For example, a mobile X-ray unit moving along the corridor from one operating room to another should primarily move quickly forward and around curves, while within the operating room, it should be moved slowly and precisely forward and sideways at the operating table. Mobile units therefore often offer the option of selecting specific movement modes (e.g., forward movement only) via switches or control knobs to communicate the desired movement mode to the system. Movement profiles (acceleration, speed) can also be configured in this way.

[0005] Publication US 2017 / 215826 A1 discloses a mobile medical device with a motorized cart that can be moved in at least two movement modes and has two handles, each with two sensors. Publication JP 2011167296 A also discloses a mobile medical device with a motorized cart that can be moved in at least two movement modes and has a handle that functions as a switch.

[0006] The object of the present invention is to provide a mobile medical device with a device cart that can be moved with motor assistance in at least two movement modes, which enables improved usability of the device; furthermore, it is an object of the invention to provide a method for supporting the operation of the device.

[0007] The problem is solved according to the invention by a mobile medical device with a device cart that can be moved with motor assistance in at least two movement modes according to claim 1 and by a method for operating such a mobile medical device according to claim 11. Advantageous embodiments of the invention are the subject of the respective dependent claims.

[0008] The mobile medical device according to the invention, in particular a mobile C-arm X-ray device, with a motor-assisted mobile device cart in at least two movement modes, comprising at least one handle element, wherein the at least one handle element is provided for gripping by at least one human hand of an operator to move the device, also comprises at least one sensor which is arranged on the handle element or in its immediate vicinity and is designed to detect measurement data characterizing the type and / or location of gripping by the at least one human hand, an evaluation unit which is designed to evaluate the measurement data with regard to the type and / or location of gripping and to assign it to a movement mode of the device cart, and a control unit for automatically setting the evaluated movement mode of the device cart.

[0009] The mobile medical device or equipment cart features a known motor assistance system, i.e., power assistance, to facilitate maneuverability. This system significantly reduces the effort required for the operator to move the device. A movement mode is a specific preset setting that prioritizes one or more characteristics of the device's movement (e.g., slow speed, translation, turns, lateral movements, etc.) while providing less support or even blocking other characteristics. For example, a movement mode might be designed to support rapid straight-line and / or turn movements while preventing lateral movement. This movement mode could also be intended for transporting the device from one room to another.Another movement mode can be designed to slowly cover short distances (e.g., in the centimeter range) from a standstill in all possible directions; this movement mode can be intended for positioning the device in the operating room. A further movement mode can be designed to slowly cover medium distances (e.g., in the meter range) and curves; this movement mode can be intended for moving the device to a parking position in the operating room.

[0010] The invention further comprises a method for the automatic operating support of a mobile medical device with a device cart that can be moved in at least two movement modes with motor assistance and at least one handle element for grasping by means of at least one human hand of an operator for moving the device cart with the following steps: capturing measurement data characterizing the type and / or location of the grasping by means of the at least one human hand, evaluating the measurement data with regard to the type and / or location of the grasping and assigning it to a movement mode of the device cart, and automatically setting the determined movement mode of the device cart.

[0011] The mobile medical device and method according to the invention offer numerous advantages. The automatic recognition of the operator's grip characteristics and their automatic conversion into a movement mode simplifies operation of the mobile X-ray device and makes it particularly intuitive for the operator. This results in significant time savings and increased efficiency during medical examinations. The operator can easily perform blind operation, allowing them to focus their attention on other important tasks and eliminating the need to manually select movement profiles, as this is done automatically by the mobile device. The automatic recognition of grip characteristics and their assignment to specific movement modes is particularly reliable and error-free, greatly simplifying the operation of the medical device for the operator.

[0012] According to one embodiment of the invention, the sensor(s) is / are configured to detect measurement data characterizing the number of grasping hands, the size of the grasping hand(s), the position of the grasping hand(s), the contact area of ​​the grasping hand(s), the grip strength, and / or a gripping profile of an operator. Such gripping characteristics are particularly suitable for inferring a planned or intended movement of the device by the operator, so that by recognizing one or more of these characteristics, automatic selection of a movement mode is particularly simple and reliable.

[0013] In a further embodiment of the invention, the at least one sensor is formed by at least one capacitive sensor. Capacitive sensors are particularly reliable and effective in detecting fingers or hands. These sensors can also be integrated into the handle element very easily and cost-effectively. In particular, a plurality of sensors can be arranged on or in the immediate vicinity of the handle element. The entire handle element can also be constructed from capacitive sensors to ensure particularly reliable detection. Additional sensors can also be provided, for example, resistive sensors, proximity sensors, light sensors, pressure sensors, or cameras.

[0014] According to the invention, the at least two movement modes are individually adjustable for at least two operators. The at least one sensor is configured to capture measurement data characterizing an operator's gripping profile. The evaluation unit is configured to evaluate the measurement data with respect to the operator and assign it to a personalized movement mode. The control unit is configured to automatically set the evaluated personalized movement mode. To achieve this, the operator can, for example, be identified by capturing the gripping characteristics, such as the size of their hands, and the personalized movement mode can be set accordingly. Alternatively, the operator can be identified using an additional camera and image recognition software, and the movement mode can then be set accordingly.

[0015] According to a further embodiment of the invention, a first movement mode is configured such that, when the first movement mode is selected, rapid movement of the equipment cart over distances greater than 2 meters is supported. According to a further embodiment of the invention, a second movement mode is configured such that, when the second movement mode is selected, slow movement over distances less than 15 cm is supported. These are generally the most important movement modes. However, these can also be configured in a significantly more specialized way if required, for example, by blocking or supporting certain other types of movement. Additional movement modes may also be provided in which one or more characteristics of the device's mobility (e.g., slow movement, fast movement, translations, turns, lateral movements, etc.) are particularly supported and / or others are supported less or not at all.There can also be a variety of different movement modes.

[0016] According to one embodiment of the invention, the mobile medical device is formed by a mobile C-arm X-ray device with a rotatable C-arm that is adjustable in several degrees of freedom.

[0017] According to a further embodiment of the invention, a first handle element is designed for pushing and / or pulling the equipment cart, which can be moved in at least two motor-assisted movement modes, and a second handle element is designed for gripping with at least one human hand of an operator for motor-assisted adjustment of the C-arm. In this context, it can be provided that the second handle element has at least one sensor which is arranged on the handle element or in its immediate vicinity and is designed to detect measurement data characterizing the type and / or location of gripping with the at least one human hand, and wherein the evaluation unit is designed to evaluate the measurement data with regard to the type and / or location of gripping and to assign it to an adjustment mode of the C-arm, and the control unit is designed for automatically setting the evaluated adjustment mode.The adjustability of the C-arm also features servo assistance in this case. An adjustment mode, analogous to the movement mode, refers to a specific preset where one or more characteristics of the C-arm's adjustability (e.g., slow adjustment, fast adjustment, rotations, translations, etc.) are particularly supported, while others are less supported or not supported at all, or even blocked. The second handle element and the corresponding design of the medical device further simplify operation of the mobile device, making it particularly intuitive for the operator.

[0018] According to a further embodiment of the invention, the mobile medical device has a display unit for showing information regarding the activated movement mode. This display can, for example, also be integrated into or within the handle element, or at least be located in its immediate vicinity. It could, for example, be an LED display. Such a display unit has the advantage that an operator can immediately see at a glance which movement mode has been automatically selected.

[0019] In particular, the invention is applicable to mobile devices with a high specific weight in order to ensure easy maneuverability.

[0020] The invention and further advantageous embodiments according to the features of the dependent claims are explained in more detail below with reference to schematically illustrated exemplary embodiments in the drawing, without thereby limiting the invention to these exemplary embodiments. The drawing shows: FIG 1 a view of a mobile C-arm X-ray unit according to the invention with a handle element; FIG 2 a view of a handle element; and FIG 3 a sequence of a method according to the invention for automatic operating support of a mobile C-arm X-ray unit.

[0021] In the FIG 1 A mobile C-arm X-ray unit 1 is shown, which has a C-arm 3 mounted on a cart 2. The C-arm 3 is attached to the cart 2 by means of one or more mechanical connections such that it is adjustable in several degrees of freedom. For example, it can be rotated (see arrows), tilted, and translated. An X-ray source 4 is located at one end of the C-arm 3 and an X-ray detector 5 at the other end, by means of which X-ray images of an object can be acquired in a variety of possible positions (angulations). The mobile C-arm X-ray unit 1 is controlled by a system controller 8. The cart 2 has several, for example, two, three, or four, multi- or omnidirectional wheels 6, by means of which it can be moved and maneuvered forwards, sideways, and / or around curves. The wheels can each have their own drive mechanism.Generally, the mobile C-arm X-ray unit is moved or transported by an operator. For this purpose, the cart has a handle 7 which the operator can grasp with one or both hands to push or pull the cart. Two or more handles can also be arranged on the cart. The movement is also power-assisted; the unit has a (known, not shown) servo drive that provides motorized assistance to the operator during transport. In this way, the mobile C-arm X-ray unit 1 can be easily moved in all directions.

[0022] Within the framework of motorized mobility, the mobile C-arm X-ray unit 1 has at least two different movement modes. A movement mode is understood to be a specific preset in which one or more characteristics of the equipment cart's mobility (e.g., slow travel, fast travel, translations, turns, lateral movements, etc.) are particularly supported and / or others are less supported or not supported at all or are blocked. For example, a first movement mode may be designed to support rapid movement of the equipment cart in a straight line and / or around turns and to prevent lateral movement. This movement mode may be intended, for example, for transporting the equipment cart over distances greater than 4 m, e.g., from one room to another. Another (e.g., second) movement mode may be designed to slowly move short distances from a standstill (e.g.,A third movement mode (e.g., a third) can be used to move the device slowly over medium distances (e.g., between 50 cm and 4 m) and around curves; this mode can be used to move the device to a parking position in the operating room. Additional or alternative movement modes, each with only one characteristic (fast, slow, etc.), may also be available.

[0023] For particularly intuitive operation with regard to maneuverability, the C-arm X-ray unit features several components that ensure automatic adjustment of the currently required operating mode. For example, a large number of capacitive sensors 12 are integrated into the handle element 7 – as is also the case in the FIG 2 Shown enlarged. The capacitive sensors 12 are designed to record measurement data regarding the operator's gripping, i.e., exactly where and at how many points on the grip element 7 is being gripped. The measurement data is then forwarded to an evaluation unit 9, which is designed to evaluate the measurement data. The evaluation unit 9 uses the measurement data to determine the type and location of the operator's gripping. For example, it can evaluate whether the operator is gripping with one or both hands, how many fingers are involved, how firmly the grip is applied, exactly where the grip is applied, and how strongly and in which direction the pressure is applied, and / or it can, for example, create a grip profile.

[0024] Alternatively, the grip element 7 can be equipped with additional sensors for a more precise characterization of the type of grip or grip profile of the operator, e.g., pressure sensors 15, resistive sensors, proximity sensors, light sensors, or camera sensors 16. The measurement data from these sensors are also evaluated by the evaluation unit 9 with regard to the type and location of the grip. Furthermore, the operator can also be recognized, e.g., based on their movement patterns or by means of facial or fingerprint recognition. Following the evaluation of the measurement data regarding the type and / or location of the grip by the operator, the evaluation unit 9 assigns the determined characteristics to one of the available movement modes.This identified movement mode is then interpreted as the movement mode intended by the operator, forwarded to the control unit 8 of the mobile C-arm X-ray unit 1, and set using the control unit 8. In this way, the equipment cart can then be moved in the set movement mode. This allows typical context-related action patterns of the operator to be translated into appropriate movements of the device without the user having to manually select the intended movement (e.g., via a button or lever). Personalized movement profiles are also possible upon operator recognition.

[0025] To indicate to the operator which movement mode is set or the status of hand detection, display elements 13 are provided, e.g., LEDs or small screens. These can be located near the handle element 7 or at another location on the mobile C-arm X-ray unit 1. A display on a standard monitor can also be provided. The monitor 11 can be mounted on the mobile C-arm X-ray unit or on an additional mobile trolley 10.

[0026] Instead of a single grip element 7 designed for two-handed gripping, for example, two smaller grip elements with corresponding sensors could be provided, each designed for single-handed gripping. The corresponding measurement data can then be evaluated for both grip elements together, including, for example, whether a grip is being used with only one hand and what type of grip is being used.

[0027] In addition to its mobility, the adjustability of the C-arm 3 can also be automatically adjusted as described. This allows for two or more adjustment modes for the C-arm, i.e., specific presets in which one or more characteristics of the C-arm's adjustment (e.g., slow, fast, rotation, etc.) are particularly supported, while others are less supported or not supported at all, or even blocked. The C-arm itself is manually adjustable with servo assistance. A further handle element 17, intended for manual, servo-assisted adjustment of the C-arm by an operator, is also equipped with capacitive sensors 12 and / or other sensors that record measurements characterizing the type and / or location of the operator's grip.The measured values ​​can then be evaluated by the evaluation unit with regard to the type and / or location of the gripping and assigned to an adjustment mode of the C-arm. The adjustment mode is then automatically set by the system control.

[0028] In the FIG 3 The inventive method for providing operating support for the mobile C-arm X-ray device is made of FIG 1 As shown. In a first step 20, the sensors (12, 15, 16) acquire measurement data that characterize the type and / or location of grasping by at least one human hand. Subsequently, in a second step 21, the measurement data regarding the type and / or location of grasping are evaluated and assigned to a movement mode of the equipment cart. In a third step 22, the determined movement mode is automatically set.

[0029] The invention enables more efficient and intuitive operation of the platform, as it now allows for blind operation by the operator. The operator always knows which movement mode is selected, as this is controlled directly by their gripping motion. Ideally, the automatic operator assistance method is implemented in the control software of the mobile C-arm X-ray unit.

[0030] Alternatively, the different movement modes can be set manually, e.g. via switches or via a user interface.

[0031] Furthermore, a mobile device with a motor-assisted trolley capable of movement in at least two movement modes may have at least one handle element, wherein the at least one handle element is intended for gripping by at least one human hand of an operator to move the device, and may also have at least one sensor which is arranged on the handle element or in its immediate vicinity and is designed to record measurement data characterizing the type and / or location of gripping by the at least one human hand, an evaluation unit which is designed to evaluate the measurement data with regard to the type and / or location of gripping and to assign it to a movement mode of the trolley, and a control unit for automatically setting the evaluated movement mode of the trolley, and may also have a non-medical application.The mobile device could be, for example, a shopping cart or a warehouse transport platform. In particular, the invention is applicable to mobile devices with a high specific weight to ensure easy maneuverability.

[0032] For example, a shopping cart can have two movement modes: one for one-handed operation (normal procedure) and a second for two-handed operation (braked procedure). Differentiating between one- and two-handed operation ensures safe movement, for example, on sloping terrain (such as parking lots). This allows the shopping cart to be controlled precisely and easily, regardless of its weight. Similarly, in the case of a warehouse transport platform, very heavy loads can be moved precisely, as many transport vehicles in logistics centers still need to be moved manually. Here, a distinction can be made between a first movement mode (normal operation on the floor) for two-handed operation and a second movement mode (movement parallel to a shelf) for one-handed operation.

[0033] The invention can be summarized as follows: Mobile medical device, in particular mobile C-arm X-ray device, with a device cart that can be moved with motor assistance in at least two movement modes, comprising at least one handle element, wherein the at least one handle element is provided for gripping by at least one human hand of an operator to move the device, and furthermore comprising at least one sensor which is arranged on the handle element or in its immediate vicinity and is designed to detect measurement data characterizing the type and / or location of gripping by the at least one human hand, an evaluation unit which is designed to evaluate the measurement data with regard to the type and / or location of gripping and to assign it to a movement mode of the device cart, and a control unit for automatically setting the evaluated movement mode of the device cart.The at least two movement modes are individually adjustable for at least two operators, wherein the at least one sensor is designed to capture measurement data characterizing a gripping profile of an operator, the evaluation unit is designed to evaluate the measurement data with regard to the operator and assign it to a personalized movement mode, and the control unit is designed to automatically set the evaluated personalized movement mode.

Claims

1. Mobile medical device (1) having a device trolley (2) which can be moved in at least two movement modes in a motor-assisted manner, having at least one gripping element (7), wherein the at least one gripping element (7) is provided for a gripping by means of at least one human hand of an operating person for moving the device, and also having: • at least one sensor (12, 15, 16) which is arranged on the gripping element (7) or in the direct vicinity thereof and is configured to capture measurement data characterising the manner and / or the location of the gripping by means of the at least one human hand, • an evaluating unit (9) which is configured to evaluate the measurement data with regard to the manner and / or the location of the gripping and to associate it with a movement mode of the device trolley (2), and • a control unit for automatic setting of the evaluated movement mode of the device trolley (2), characterised in that the at least two movement modes can be set in a personalised manner for at least two operating persons, wherein the at least one sensor (12, 15, 16) is configured to capture measurement data characterising a gripping profile of an operating person, the evaluating unit (9) is configured to evaluate the measurement data with regard to the operating person and to associate it with a personalised movement mode, and the control unit is configured for automatic setting of the evaluated personalised movement mode.

2. Mobile medical device according to claim 1, wherein the sensor or sensors (12, 15, 16) are configured to capture measurement data characterising the number of gripping hands and / or the size of the gripping hand or hands and / or the position of the gripping hand or hands and / or the contact area of the gripping hand or hands and / or the grip tightness of the gripping and / or a gripping profile of an operating person.

3. Mobile medical device according to claim 1 or 2, wherein the at least one sensor is formed by at least one capacitive sensor (12).

4. Mobile medical device according to one of the preceding claims which is formed by a mobile C-arm X-ray device (1) having a rotatable C-arm (3) which is adjustable in a plurality of degrees of freedom.

5. Mobile medical device according to claim 4, wherein a first gripping element (7) is configured for pushing and / or pulling the device trolley which can be moved in at least two movement modes in a motor-assisted manner and a second gripping element (17) for a gripping by means of at least one human hand of an operating person for motor-assisted adjustment of the C-arm (3).

6. Mobile medical device according to claim 5, wherein the second gripping element (17) has at least one sensor (12) which is arranged on the gripping element (17) or in the direct vicinity thereof and is configured to capture measurement data characterising the manner and / or the location of the gripping by means of the at least one human hand, and wherein the evaluating unit (9) is configured to evaluate the measurement data with regard to the manner and / or the location of the gripping and to associate it with an adjustment mode of the C-arm, and the control unit is configured for automatic setting of the evaluated adjustment mode.

7. Mobile medical device according to one of the preceding claims, having a plurality of sensors (12, 15, 16) which are arranged on the at least one gripping element or in the direct vicinity thereof.

8. Mobile medical device according to one of the preceding claims, wherein a first movement mode is configured such that on setting of the first movement mode, a rapid movement of the device trolley (2) over distances > 4 m is supported.

9. Mobile medical device according to one of the preceding claims, wherein a second movement mode is configured such that on setting the second movement mode, a slow movement of the device trolley (2) over distances < 50 cm is supported.

10. Mobile medical device according to one of the preceding claims, having a display element (13) for displaying information relating to the automatically activated movement mode.

11. Method for automatic operating assistance for a mobile medical device having a device trolley (2) which can be moved in at least two movement modes in a motor-assisted manner and at least one gripping element (7) for a gripping by means of at least one human hand of an operating person for moving the device trolley (2), comprising the following steps: • capturing measurement data characterising the manner and / or the location of the gripping by means of the at least one human hand, • evaluating the measurement data with regard to the manner and / or the location of the gripping and associating it with a movement mode of the device trolley (2), and • automatic setting of the determined movement mode of the device trolley (2), • wherein the at least two movement modes can be set in a personalised manner for at least two operating persons, wherein measurement data characterising a gripping profile of an operating person is captured, the measurement data is evaluated with regard to the operating person and is associated with a personalised movement mode, and the evaluated personalised movement mode is set automatically.

12. Method according to claim 11, wherein measurement data characterising the number of gripping hands and / or the size of the gripping hand or hands and / or the position of the gripping hand or hands and / or the contact area of the gripping hand or hands and / or the grip tightness of the gripping and / or a gripping profile of an operating person is captured.