Gesture-based simultaneous control of a medical device

Description

[0001] The invention relates to a command transmission device. Furthermore, the invention relates to a command transmission system. Moreover, the invention relates to a command transmission method.

[0002] Modern imaging techniques are frequently used in medicine to generate two- or three-dimensional image data, which can be used to visualize an object under examination and also for other applications.

[0003] Examples of modern medical imaging techniques include computed tomography (CT), magnetic resonance imaging, the use of so-called PET scanners and X-ray imaging with C-arm systems.

[0004] To ensure patient safety, all these procedures stipulate that diagnostic imaging can only be initiated once a qualified operator, such as a medical technical assistant (MTA), radiologist, or physician, has manually activated the device. Conventional means of manually entering an activation command into a medical device include switches, buttons, and knobs, which are typically located directly on or attached to the device. Alternatively, these activation devices can also be connected to the medical device via an electrical cable or a wireless electromagnetic connection.Furthermore, additional interfaces for interaction between an operator and a medical device may be present, such as a push button, a touch display, or, more generally, mechanical or mechatronic units that can be operated by hand or foot, for example, a foot switch. These input units are usually part of an operator module.

[0005] In addition, there is the problem of cleaning and disinfecting the control elements to reduce the transmission of diseases in clinical settings. Conventional control modules are usually located on the floor and can therefore easily become soiled, contaminated with organic substances, especially bodily fluids, and also easily damaged by tripping.

[0006] To operate a medical device, an operator must typically be in close proximity to such a control module, for example, a foot switch. Therefore, the operator is tied to a specific location when activating a particular medical device. A typical control module for activating a medical device is a foot switch. However, such a standard foot switch presents the problem that it requires at least one electrical cable for power supply or data transmission, which runs across the floor of an examination room or operating room and poses a tripping hazard for medical personnel.

[0007] Joysticks are also used to operate devices such as C-arms. A joystick allows for the continuous variation of a movement, enabling, for example, a small deflection at a slow speed and a large deflection at a high speed.

[0008] Joysticks are also used to control movements in the automotive industry, aviation, and robotics. Such a joystick can, for example, be positioned at a comfortable working height for a seated person and is therefore not as susceptible to dirt and grime as a unit located on the floor. However, a joystick has the disadvantage that the user must use their hands to operate the device and therefore does not have their hands free to, for example, examine or treat a patient.

[0009] Furthermore, other hand- or foot-operated devices with wireless connectivity are also used to activate medical devices. However, these devices, when operated wirelessly by hand, also have the disadvantage that the operator's hands are not free for other interactions.

[0010] Mobile foot control devices are also used, which are wirelessly connected to a medical technology system to be controlled. Foot switches are primarily used to perform switching operations, such as turning radiation on and off or adjusting a patient table.

[0011] With such a setup, there are no cables to create tripping hazards, nor is it necessary to use your hands to operate the mobile foot control unit. However, if numerous such mobile foot control units are scattered on the floor, the units themselves become tripping hazards. Furthermore, wireless transmission leads to the hygiene problems described above.

[0012] In addition to operating an electromechanical switching element to activate or deactivate a medical device, it is desirable for an operator to also be able to control other functions of the medical device. Examples include scrolling through images or a sequence of images, changing the image contrast, zooming in or out of image displays, or changing other parameters specific to a particular modality.

[0013] Furthermore, it is desirable to secure the operation of safety-relevant functions with a secondary channel independent of the primary operating channel. For example, the activation of a radiation trigger or the movement of a medical device via a foot switch can be additionally confirmed by voice control, camera-based monitoring, or RF-based monitoring of a predetermined gesture. Gestures recognized by image capture can be visualized, for example, by the movement of the operator's hands or fingers, where the gestures can represent grasping, releasing, moving, or zooming. The movement of feet or toes can, for example, control an increase in speed, a decrease in speed, a movement to the left, or a movement to the right. An eye movement to the left, right, up, or down can represent a directional decision.A head movement to the left or right can also be used to change direction. Furthermore, gesture-controlled actions can be accompanied by haptic feedback, for example in the form of a vibration, to confirm to the operator that a desired action has been triggered.

[0014] Gesture control allows the operator to simultaneously control a medical device and treat a patient. This is made possible because triggering an action on the medical device does not require changing position to operate an input device. In this way, the operator can initiate an action without losing focus on the current treatment task. The operator can also control a medical device when their hands or eyes are needed for patient treatment or operating another medical device, for example, by giving commands via foot movements. Such a simultaneous approach can also reduce the need for medical personnel.

[0015] US 2017 / 3366870 discloses a command transmission system, comprising: a first command transmission device comprising a sensor unit for detecting a movement of an operator (P), a fixing unit for fixing the sensor unit and / or the command transmission device to the operator; an evaluation unit for evaluating the detected movement of the operator and for identifying a command based on the detected movement, and a command transmission unit for transmitting a control command based on the identified command to a medical device to be operated.

[0016] Therefore, the object of the present invention is to provide an actuation and activation of a medical device with improved safety against accidents and reduced effort for ensuring hygiene in an examination area, which can also be implemented safely and conveniently during a simultaneous treatment of a patient.

[0017] This problem is solved according to the invention by a command transmission system according to claim 1 and a command transmission method according to claim 15.

[0018] The command transmission device according to the invention comprises a sensor unit for detecting the physical movement of an operator. Such a sensor unit includes at least one sensor. The sensor is configured to detect movement. Such movement can be determined, for example, by one or more acceleration measurements or by measuring mechanical deformation. The movement can follow a predefined movement pattern, which is used to generate command information. The sensor unit and / or even the entire command transmission device are attached to the operator by a fixing unit. It should be noted that the command transmission device is also preferably configured not only to process the sensor data from the internal sensor unit, but also to receive and evaluate sensor data from external sensors.The fixing unit enables the sensor unit, preferably the command transmission device, to be used as an embedded system that an operator always carries with them without having to hold a control unit, such as a joystick.

[0019] Part of the command transmission device according to the invention is also an evaluation unit for evaluating the detected movement of the operator and for identifying a command based on the detected movement. The evaluation unit preferably comprises a so-called ultra-low-power microcontroller, which can be operated with small amounts of energy, for example by an autonomous energy generation system arranged on or in the command transmission device.

[0020] The sensor data acquired by the sensors, preferably the operator's movement detected by the sensor unit, is analyzed by the evaluation unit. The evaluation unit classifies the detected movement as either intentional or unintentional. Such classification can be achieved, for example, by comparing the detected movement with one or more reference movements, each associated with a specific command. The sensor unit thus comprises a mechatronic component capable of detecting an operator's movement. Once a command is recognized or identified, a control command based on the identified command, such as the identified command itself, is transmitted by a command transmission unit, which is also part of the command transmission device according to the invention, to a medical device to be operated.

[0021] The command transmission device according to the invention is thus designed as a mobile device in the form of a so-called "smart wearable," which the operator always carries with them. Parts or the entire command transmission device can be designed as a so-called embedded system, which is specifically designed for controlling a medical device by movement. Advantageously, an operator of a medical device can control an operating process by any predetermined movement. This makes it possible to perform several tasks in parallel. For example, the operator can examine a patient with their hands and simultaneously control a medical device, such as an imaging device, with another part of their body.Furthermore, the operator always carries the input unit in the form of the command transmission device according to the invention with them, so that it cannot get in anyone's way or become a dust collector and the operator does not have to search for it when they want to transmit a command.

[0022] This also makes it easier to comply with hygiene regulations in examination rooms or operating rooms, because the control elements are less likely to become soiled and, ideally, if each person has their own control device, are used by only one person at a time. Furthermore, the risk of infection between operators through contact with contaminated surfaces is avoided, as contactless operation and control of medical device functions is enabled. Additionally, using a wearable control device allows different medical devices to be controlled in the same way. Traditionally, control switches on different types of mechanical devices have varying positions, pressure points, the force required for operation, and the functions achieved by the operation.By shifting the input interface towards the user according to the invention, more intuitive operation with a unified and cross-device operating concept can now be implemented. Because the input interface is moved closer to the operator's body, the user's attention can remain focused on their current, parallel task while operating a medical device. For example, the user's attention does not need to be diverted from the patient to operate the medical device. Therefore, during safety-critical treatment steps requiring full attention, it is advantageous that no additional personnel are needed to simultaneously operate the medical device.

[0023] For example, analogous functions on different devices can be triggered in the same way or with the same gesture, without the user having to locate the corresponding differently designed controls on each differently structured device. This reduces training time. For instance, the need to learn different user interfaces of various medical devices is eliminated, since the control of analogous functions can always be achieved in the same way using the same body movements. Advantageously, the command transmission device according to the invention intuitively integrates the operation of a medical device into a workflow. Furthermore, multiple uses and reusability for different applications are possible if the evaluation unit is designed to be programmable.

[0024] The command transmission system according to the invention comprises a first command transmission device according to the invention with gesture recognition. The first command transmission device according to the invention is fixed to the operator and is designed as a master device for bidirectional data exchange with at least one slave device. That is, the first command transmission device according to the invention functions as a master according to the master-slave principle. Commands can therefore only be transmitted if the command transmission via the first command transmission device according to the invention has been enabled.

[0025] Furthermore, the gesture sensor unit of the first command transmission device is activated, i.e., the first command transmission device responds to gesture control and is configured to transmit a detected command, preferably an initialization command, to a second, preferably invention-based, command transmission device.

[0026] The second, preferably inventive, command transmission device is also part of the inventive command transmission system and is located remotely from the operator, preferably on a medical device to be operated. The second command transmission device is designed as a slave device for bidirectional data exchange with a master device and comprises an evaluation unit that includes at least one subunit for recognizing command content based on sensor data. Preferably, the evaluation unit includes a gesture recognition unit that is activated to detect a gesture from the operator at a distance. The evaluation unit also preferably includes a speech recognition unit with a speech recognition capability for recognizing speech content based on acoustic sensor data.

[0027] The evaluation unit is therefore capable of capturing a gesture or acoustic information from the operator from a distance. These functions can be activated from the first command transmission unit, which is configured as the master unit. The second command transmission unit preferably also includes speech recognition capabilities, allowing it to evaluate a voice command from the operator. Furthermore, the second command transmission unit is configured to receive a command from the first command transmission unit, such as a voice command, and to transmit a control command to the medical device based on this command, or to control the device based on the received command.Advantageously, the second command transmission device can first be initialized to be ready to receive a command by means of a command initiated via the first command transmission device according to the invention, for example, by a movement or gesture of the operator. The operator then controls the medical device by means of an additional control command, which is generated either directly, for example, by a voice command or a gesture, either directly by the second command transmission device detecting the voice command or gesture, or by the first command transmission device detecting this additional command and subsequently transmitting the detected additional command to the second command transmission device, which then controls the medical device according to the received or detected command.

[0028] The described two-stage procedure offers the advantage of increased reliability in the operation of the medical device, since it can only be controlled after an initialization command has been given by the operator.

[0029] The surgical system according to the invention comprises an imaging medical device for monitoring a patient's surgery. In particular, an imaging medical device can be used to visualize an internal surgical area before or during surgery. The surgical system according to the invention also comprises a surgical setup. Such a setup can, for example, include a device for minimally invasive surgery, equipment for treating and monitoring a patient, such as monitoring vital functions, and an operating table.The operating system according to the invention also includes a command transmission device or a command transmission system according to the invention, which is configured to transmit a control command to the imaging medical device and / or to control the imaging medical device with this command.

[0030] Advantageously, the surgical system according to the invention allows the same person to perform medical imaging simultaneously while carrying out an operation. For example, the surgeon can use their hands to perform the operation, monitor the procedure inside the patient with their eyes on the screen of the medical imaging device, and simultaneously control the imaging with another part of their body. Thus, the surgeon does not need to take their eyes off the screen to control the medical imaging device, nor does they need to interrupt the surgical procedure. For example, the surgeon can dynamically adjust the image display, the image area, and the location of the area to be imaged during the operation to obtain an optimal representation for each stage of the procedure.

[0031] In the command transmission method according to the invention, a movement of an operator is detected by a gesture recognition unit arranged on the operator. Based on the detected movement, a command from the operator is identified and the identified command is transmitted to a medical device to be operated.

[0032] The command transmission method according to the invention shares the advantages of the command transmission device according to the invention.

[0033] The essential components of the command transmission device according to the invention can be predominantly designed in the form of software components. This applies in particular to the evaluation unit and parts of the command transmission unit.

[0034] In principle, these components can also be partially implemented as software-supported hardware, such as FPGAs or similar devices, especially when particularly fast calculations are required. Similarly, the necessary interfaces, for example, when it is only a matter of transferring data from other software components, can be implemented as software interfaces. However, they can also be implemented as hardware interfaces controlled by suitable software.

[0035] A largely software-based implementation has the advantage that even previously used data processing devices can be easily configured to operate according to the invention by retrofitting the necessary hardware, such as a sensor unit and a fixing unit, via a software update. In this respect, the problem is also solved by a corresponding computer program product with a computer program that can be directly loaded into a storage device of a data processing device and comprises program sections to execute all steps of the method according to the invention when the computer program is run in the data processing device.

[0036] In addition to the computer program itself, such a computer program product may include additional components such as documentation and / or additional components, including hardware components such as hardware keys (dongles, etc.) for using the software.

[0037] For transport to and / or storage on the data processing system, a computer-readable medium, such as a memory stick, a hard drive, or other portable or permanently installed data carrier, can be used. This medium stores the program sections of the computer program that can be read and executed by a data processing system, such as a computer unit. The computer unit may, for example, have one or more cooperating microprocessors or similar components.

[0038] The dependent claims and the subsequent description each contain particularly advantageous embodiments and further developments of the invention. In particular, the claims of one claim category may also be further developed analogously to the dependent claims of another claim category. Furthermore, within the scope of the invention, the various features of different embodiments and claims may also be combined to form new embodiments.

[0039] Preferably, the sensor unit of the command transmission device according to the invention comprises an internal gesture sensor unit for gesture recognition. An internal gesture sensor unit is understood to be a gesture sensor unit that is arranged within an article of clothing worn by the operator or an object worn by the operator, i.e., integrated into this object. Gesture recognition generally refers to a targeted movement by a person with which that person wishes to transmit information, preferably a control command. Such a gesture can, for example, include a movement of one or both hands, one or both feet, one or both legs, one or both eyes, or a head movement. A gesture can also comprise a predefined combination and / or sequence of one or more of the aforementioned movements. Advantageously, the sensor unit is not visible from the outside.The device is protected externally so that the operator's movements are not restricted and the gesture sensor unit is well protected against mechanical damage. The internal gesture sensor unit can, for example, be integrated into a garment. Advantageously, a gesture from a person wearing the device can be automatically detected and used to control a medical device.

[0040] Gesture recognition can be used primarily to detect and identify intentional movements. If such an intentional movement is identified based on the movement pattern, a command can be issued to prepare an action. For example, voice input can be enabled to give more nuanced commands for controlling a medical device.

[0041] To further increase reliability by improving the detection probability of an operator operating a medical device, a predetermined movement pattern can be a so-called "safe intentional" movement. To make command recognition particularly reliable, such a "safe intentional" movement can involve a more complex sequence of movements that cannot easily be mistaken for a random, natural movement. For example, such a movement pattern could involve tapping a foot in a predetermined sequence, such as toe, heel, toe, or repeated heel taps.

[0042] To achieve highly secure command transmission, it is particularly advantageous to distribute multiple motion sensors at different locations on the body. For example, at least one sensor, or even a complete command transmission unit, can be integrated into each of a person's shoes. Such an arrangement could generate and recognize complex movement sequence patterns of both feet. Even more complex movement patterns would be possible, for instance, by arranging motion sensors on several individual toes. This increase in control complexity improves the reliability of command identification based on body movements and allows for the transmission of more sophisticated and complex commands or command sequences, thus enabling detailed remote control of a medical device.

[0043] Gesture recognition can preferably be achieved by detecting a movement of the sensor unit or a mechanical action on the sensor unit.

[0044] Binary actions, such as switching on or off, can be detected or triggered by a piezoceramic element in a sensor unit as a replacement for a mechanical switch.

[0045] Larger and arbitrary variations of actions to be performed, such as a procedure upwards or downwards or to the left or to the right, can be realized, for example, with an acceleration measuring device.

[0046] Furthermore, a device for measuring plastic deformation or a change in a magnetic field can also be used as a sensor unit.

[0047] Preferably, the fixing unit of the command transmission device according to the invention is designed to fix the gesture sensor unit to or in a garment, preferably in a shoe. The fixing unit can therefore be integrated into the garment, preferably into the sole of a shoe, and most preferably as an insole. Preferably, the fixing unit of the command transmission device according to the invention is designed as a recess in the sole of the shoe. Particularly preferably, the fixing unit is designed to be removable or replaceable, for example, as a textile cover. Advantageously, the command transmission device can be worn quasi-passively by the operator without the operator having to actively attend to it, for example, by holding the command transmission device.This means the operator has their limbs, especially their hands, available for multiple tasks. Integrating the control device into a shoe or attaching it to a shoe offers expanded possibilities and greater comfort compared to hand-held operation, as the hands are free for other activities. A gesture shoe sensor thus enables additional degrees of freedom and design options for a medical examination workflow. In particular, multiple actions can be controlled or executed simultaneously. One example of such a workflow is controlling an image display during a medical imaging procedure.For example, a viewing perspective or a zoom effect can be controlled with the help of a gesture, and at the same time, an examination or treatment of a patient can be prepared or carried out using the hands.

[0048] Preferably, the command transmission unit of the command transmission device according to the invention also comprises a radio transmission unit for transmitting the identified command to the medical device to be operated.

[0049] The command transmission can be advantageously wireless, so that no disruptive transmission cable is needed, which can, for example, represent a source of interference or a potential cause of accidents for a person.

[0050] The command transmission device according to the invention preferably includes an energy generation and storage unit configured to generate electrical energy from the operator's kinetic energy. This process is also known as "energy harvesting" and involves extracting small amounts of electrical energy from sources such as ambient heat, vibrations, or air currents for mobile devices with low electrical power requirements. The structures used to generate this energy are also referred to as nanogenerators. Energy harvesting avoids the limitations of wired power supplies or batteries in wireless technologies.The energy generation and storage unit is preferably designed as an internal electronic energy generation and storage unit, which preferably has a piezoceramic that converts and stores the energy of the movement, for example the walking movement of the wearing user, into electrical energy.

[0051] Particularly preferred is the command transmission device according to the invention, when configured as a slave unit, such that the sensor unit comprises an acoustic sensor unit and the evaluation unit comprises a speech recognition unit for recognizing and interpreting voice commands from the operator. Speech recognition makes spoken language accessible for automatic data acquisition, thus enabling data input via voice to control a medical device. Advantageously, a voice command can transmit more complex content than a gesture. Furthermore, no symbolic gestures need to be memorized to control a medical device.

[0052] This is particularly advantageous for the operator, as it leaves their extremities, especially their hands, free for parallel tasks.

[0053] The command transmission device is also preferably configured so that the internal gesture recognition recognizes one of the following function commands: Scrolling through images on an image display of a medical device or going through a sequence of such images, changing the image contrast, zooming in or out of an image display, changing specific parameters of a medical device.

[0054] Advantageously, an adjustment of an image display or another parameter of a medical device can be made using a gesture while performing another task, without distracting the operator from their primary activity.

[0055] Preferably, the command transmission device according to the invention is configured to provide the operator with haptic feedback in response to a recognized command. Advantageously, the operator receives information that their command has been recognized and transmitted. For such haptic feedback, the command transmission device according to the invention preferably comprises an actuator that can perform a mechanical movement, signaling to the operator that a command given by a movement, preferably a gesture, has been recognized and transmitted by the command transmission device. Such a movement of the actuator can, for example, include a vibration, which is transmitted to the operator's body and perceived haptically by them. Advantageously, remote control by a movement or gesture, which is conventionally non-haptic, is achieved, since the movement or gesture itself is not haptic.Since no operating switch is touched and therefore no mechanical feedback caused by the switch mechanism occurs due to a pressure point or counterforce against an operating act, haptic feedback is added so that a person performing a control movement, preferably a gesture, receives a similar haptic impression to directly operating a switch or button. Because the command transmission device is attached directly to the body part executing the control movement, the feedback is given at the point on the operator's body from which the control movement was performed, which corresponds to the experience of a conventional control process through direct mechanical operation by hand or by operation with another body part.

[0056] Therefore, an operator of a medical device using a remote control does not need to adapt to a different tactile experience. Furthermore, due to the preferably immediate haptic feedback, the operator does not have to wait for their action to be executed to determine whether their control command was recognized and then repeat the movement. Thus, the operator saves time thanks to the direct feedback and, if there is no immediate feedback, can be certain that the movement was not recognized and repeat the movement immediately. Conversely, if immediate feedback is received, the operator can proceed with another movement without delay.

[0057] Preferably, the second command transmission unit of the command transmission system according to the invention is configured to detect and identify a voice command from the operator after activation of the speech recognition unit and to transmit a control command to the medical device based on the identified voice command. Activation can preferably be effected by a command transmitted from the first command transmission unit, for example, based on a gesture from the operator. This achieves a certain level of protection, i.e., it ensures that a voice command is also used to control the medical device.

[0058] For example, the gesture recognition unit or the speech recognition unit may include the ability to recognize confirmation signals for the following functions: a radiation trigger, a magnetic field trigger, movements of the medical device.

[0059] Legally speaking, exposure to X-rays constitutes bodily harm and may therefore only be used with the patient's consent.

[0060] The generation of gradients for an MRI scan can lead to acoustic disturbances, as a scan without hearing protection is perceived as very loud.

[0061] Damage caused by motorized medical devices, such as mobile patient tables or C-arms, can be prevented through safety technology.

[0062] Thus, the patient is advantageously protected from unintentional damage caused by increased radiation exposure, magnetic field exposure, or mechanical impact from the movement of a medical device by a two-stage control system with initialization or activation of a command transmission.

[0063] The gesture recognition unit of the first command transmission device of the command transmission system according to the invention is also preferably configured to detect one of the following gestures: Hands or fingers grasp, release, zoom, move; eyes move left, right, up, down, blink, head movement left or right.

[0064] The described gestures offer a significant advantage in expanding the command space and input options. Some gestures involving other body parts are particularly well-suited for specific workflows. A clear advantage of all the input methods listed here is that, apart from wearing special glasses equipped with a camera(s) and accelerometer, no special device needs to be worn or attached to the person, such as a sensor glove or similar. This ensures that the user's freedom of movement and existing habits are not restricted, as the sensors adapt to the user for capturing actions, not the other way around.

[0065] Preferably, the first command transmission device of the command transmission system according to the invention is configured to provide the operator with haptic feedback in response to a recognized command. Advantageously, the operator receives information that their command has been recognized and transmitted.

[0066] The invention will now be described and explained in more detail with reference to the exemplary embodiments shown in the figures.

[0067] They show: FIG 1 a schematic representation of a shoe with two command transmission devices according to an embodiment of the invention, FIG 2 a schematic representation of a command transmission device according to an embodiment of the invention, FIG 3 a schematic representation of a second command transmission device of a command transmission system according to an embodiment of the invention, which is designed as a permanently installed receiving device and actuator device, FIG 4 a schematic representation of a gesture shoe sensor according to an embodiment of the invention, FIG 5 a schematic representation of a computed tomography system with a command transmission system according to an embodiment of the invention, FIG 6 a flowchart illustrating a command transmission method according to an embodiment of the invention FIG 7 a schematic representation of a command transmission system according to an embodiment of the invention, FIG 8 a schematic representation of a command transmission system according to an exemplary embodiment.

[0068] In FIG 1 Figure 1 shows a shoe 1 with two command transmission devices 2 according to an embodiment of the invention. The command transmission devices 2 are designed as wireless shoe sensors and are each integrated into a shoe sole by means of fixing units 2a, which surround the command transmission devices 2. A movement of the shoe 1 is detected by a command transmission device 2 by sensors (see Figure 2). FIG 2 The data is recorded and evaluated. Based on the evaluation, a command is generated and transmitted to a medical device, enabling remote control, in particular switching a medical device on or off, without the operator having to approach the medical device or use their hands for a switching operation.

[0069] In FIG 2 A command transmission device 2 according to an embodiment of the invention is shown schematically. The command transmission device 2 comprises a plurality of sensors 3a, 3b, 3c which detect movement or other physical information. The sensors 3a, 3b, 3c can, for example, each include a pressure sensor which measures a change in electrical voltage in response to an external mechanical force. The generated sensor signals are transmitted to an evaluation unit 4, for example a microcontroller 4, with ultra-low energy consumption, which is also part of the command transmission device 2. The microcontroller 4 generates a command signal based on the sensor signals.The command transmission device 2 also includes a transmit-receive unit, in the simplest case an RF transmitter 5, and an antenna 7 for transmitting a command signal generated on the basis of an expression of will of an operator determined by the evaluation unit 4.

[0070] The transceiver unit 5 can also be used as an interface for receiving additional external sensor signals transmitted by external units to the command transmission unit 2. For example, an external acoustic sensor unit and an external image data acquisition unit can capture information about vocalizations and movements or changes in posture of an operator and transmit it to the command transmission unit 2.

[0071] The acoustic data and the image data can then be evaluated by the evaluation unit 4 in addition to the sensor data recorded by the internal sensors 3a, 3b, 3c in order to determine an expression of will by an operator.

[0072] The command transmission unit 2 also includes an internal electronic energy generation and storage unit 6. The energy generation and storage unit 6 comprises a piezoelectric ceramic element, which generates and stores electrical energy when a mechanical force is applied to it. For example, the movement of a shoe, leg, or arm can be used to generate electrical energy in a so-called energy harvesting process. This energy is then stored in an electrical energy storage device, such as a capacitor or accumulator, and used to power the microcontroller 4 or evaluation unit 4, the transmitter 5, and the sensors 3a, 3b, and 3c.

[0073] In FIG 3 A permanently installed receiving device 10 of a command transmission system according to an embodiment of the invention is illustrated. Such a command transmission system 50 (see FIG 5 ) includes the in FIG 2 The command transmission device 2 shown, as well as the one in FIG 3 The permanently installed receiving device 10 shown. The permanently installed receiving device 10 is, for example, attached to a medical device, such as the one in FIG 5 The CT system 50 shown is arranged as follows: The fixed receiving unit 10 comprises a wireless receiving unit 11 and an actuator system 12. The wireless receiving unit 11 includes an antenna 13 and a receiver 14, for example, an RF receiver, for receiving a command signal from a command transmission unit 2 installed on a shoe 1. The wireless receiving unit 11 also includes a microcontroller 15, which is configured to evaluate a command signal received by the wireless receiving unit 11. Based on the command signal, an initialization command IB is sent to the actuator system 12. The actuator system 12 comprises a system microcontroller 16 and an actuator 17. The system microcontroller 16 receives the initialization command IB and transmits a control command to an actuator or a switch, which is actuated to start operation of a medical imaging device.

[0074] In FIG 4 Figure 1 illustrates a schematic representation of a gesture shoe sensor 20 according to an embodiment of the invention. The gesture shoe sensor 20 comprises an inertial sensor 21 with which acceleration, rotation, or a magnetic field can be measured. Such a sensor can, for example, include components in which so-called MEMS are integrated into ICs and which offer a serial interface to a microcontroller. The detected sensor signals are transmitted by the inertial sensor 21 to a microcontroller 22, which consumes very little energy. Based on the sensor signal generated by the inertial sensor 21, the microcontroller 22 generates a gesture command signal and transmits the gesture command signal to a transceiver unit 5, which is also part of the gesture search sensor 20.

[0075] The transmit-receive unit 5 generates an initialization command signal, which is transmitted to a permanently installed receiving device via an antenna 7. The gesture shoe sensor 20 also includes a power supply 6, which is located, for example, in the FIG 2 as shown. In addition, the gesture shoe sensor 20 also includes a unit 25 for transmitting haptic feedback to an operator. If the operator gives an initialization command by means of a gesture, the inertial sensor 21 detects the movement and transmits the detected sensor signal to the microcontroller 22. The microcontroller 22 evaluates the sensor signal and, if it recognizes a gesture that indicates an initialization command, it outputs a corresponding command signal to the transceiver unit 5 and additionally transmits a control signal to the unit 25 for transmitting haptic feedback. The unit 25 for transmitting haptic feedback then generates a mechanical signal, for example a vibration, with which the operator orThe wearer of the gesture shoe sensor 20 is informed that the command they generated through a gesture has been recognized and transmitted. This command then, for example, activates an input for a medical imaging device. Subsequently, the operator can switch on and adjust an X-ray tube with another gesture, such as a hand movement or an eye or head movement. This gesture is detected, for example, by an image acquisition unit and received and evaluated by a permanently installed receiver unit located on the medical imaging device. Advantageously, control processes can be made more reliable by means of a control gesture using a gesture shoe sensor 20, thus preventing accidental control actions that could harm a patient.

[0076] FIG 5 Figure 50 shows a computed tomography system 50 according to an embodiment of the invention. The computed tomography scanner shown here has an acquisition unit 57 comprising a radiation source 58 in the form of an X-ray source and a radiation detector 59 in the form of an X-ray detector. The acquisition unit 57 rotates about a system axis 55 during the acquisition of X-ray projections, and the X-ray source 58 emits radiation 52 in the form of X-rays during the acquisition. The X-ray source 58 is an X-ray tube. The X-ray detector 59 is a line detector with multiple lines.

[0077] A patient 53 lies on a patient table 56 during the acquisition of projections. The patient table 56 is connected to a table base 54 in such a way that it supports the patient table 56 with the patient 53. The patient table 56 is designed to move the patient 53 along an acquisition direction through the opening 60 of the acquisition unit 57. The acquisition direction is generally defined by the system axis 55, which is oriented in the z-direction. The acquisition unit 57 rotates about the z-axis during the acquisition of X-ray projections. In this example, the patient's body axis is the same as the system axis 55. Both axes lie on the z-axis of a three-dimensional Cartesian coordinate system. During a spiral acquisition, the patient table 56 is moved continuously through the opening 60 while the acquisition unit 57 rotates around the patient 53 and acquires X-ray projections.Thus, the X-rays describe a spiral on the surface of patient 53.

[0078] The X-ray imaging device 51 has a computer 62, which is connected to a display unit 61, for example, for the graphical display of X-ray images, and an input unit 67. The display unit 61 can be, for example, an LCD, plasma, or OLED screen. It can also be a touch-sensitive screen, which also serves as an input unit 67. Such a touch-sensitive screen can be integrated into the imaging device or designed as part of a mobile device. The input unit 67 can be, for example, a keyboard, a mouse, a touchscreen, or a microphone for voice input. The input unit 67 can also be configured to recognize a user's movements and translate them into corresponding commands.For example, a selected reference data set can be modified by a user using input unit 67.

[0079] The computer 62 communicates with the rotatable imaging unit 57 for data exchange. Via connection 64, control signals for X-ray image acquisition are transmitted from the computer 62 to the imaging unit 57, and acquired projection data for image reconstruction is transmitted back to the computer 62. Connection 64 is implemented in a known manner, either wired or wirelessly.

[0080] The computer 62 has a processing unit 66. The processing unit 66 is designed as an image or image data processing unit. It is configured to perform data processing steps related to the method according to the invention. The processing unit 66 can interact with a computer-readable data carrier 63, in particular to receive and process commands from a computer program with program code and to control imaging. Furthermore, the computer program can be stored on the machine-readable carrier in a retrievable manner. In particular, the machine-readable carrier can be a CD, DVD, Blu-ray Disc, a memory stick, or a hard drive. The processing unit 66 can be designed in the form of hardware or in the form of software. For example, the processing unit 66 is designed as a so-called FPGA (acronym for "Field Programmable Gate Array") or comprises an arithmetic logic unit.

[0081] In FIG 5 is also a command transmission system 70 (see details in FIG 7 Figure 62 shows a transmitter unit 2M and a receiver unit 2S. The receiver unit 2S is configured as a radio interface and is part of the computer 62 slave circuit. The transmitter unit 2M is integrated into a shoe 1 of an operator P and is configured as a master circuit. The operator P can now activate a speech recognition function of the receiver unit 2S, configured as a slave circuit, by means of a movement sequence of the shoe 1. The operator P then gives a voice command, which is received and interpreted by the receiver unit 2S. Based on this interpretation, the receiver unit 2S generates a command to execute a function, such as scrolling through images or changing the contrast. To implement the command, the receiver unit 2S can also control a switch 12, which functions as an actuator. The switch 12 is used, for example, to trigger the radiation from the radiation source 58.

[0082] In FIG 6 Figure 600 shows a flowchart illustrating a command transmission method according to an embodiment of the invention. In step 6.1, a movement of an operator P is detected by a first command transmission device 2M arranged on the operator P. For example, an experienced radiologist, who is currently examining a patient with his hands, is standing next to a mobile C-arm device. Because of the simultaneous examination, the radiologist does not currently have his hands free to operate the C-arm device for imaging the patient P. Therefore, the radiologist is wearing a device already attached to the device. FIG 1 und FIG 2 The first command transmission device 2M described is located in one or both of the user's shoes 1. The first command transmission device 2M is initialized in a so-called master mode, i.e., in this master mode only the electronic sensor for motion detection is activated, but speech recognition is deactivated, since in this embodiment the first command transmission device 2M is only used to enable speech recognition of an identical second command transmission device 2M, which is located on the C-bow device.

[0083] Furthermore, in step 6.II, the detected movement of the operator, i.e., in this specific embodiment, the radiologist, is evaluated, and a command is identified based on the detected movement. The operator's movement P can, for example, comprise a sequence of three foot taps. In this specific embodiment, the command is an enable command that makes the second command transmission unit 2S ready to receive a voice command from the radiologist. In step 6.III, the identified command is then transmitted wirelessly to the second command transmission unit 2S, which is located on the medical device to be operated, in this case, a C-arm device. In step 6.IV, the voice recognition of the second command transmission unit 2S is then activated. In step 6.In step 6.VI, the second command transmission unit 2S detects a voice command given by the radiologist and evaluates it using internal speech recognition. For example, the words "turn over," "image back," or "image forward" are recognized. This command is interpreted by the second command transmission unit 2S as a command to turn over between multiple image data sets, but only if the gesture command described in step 6.II was given and recognized. In step 6.VI, a corresponding control command is then transmitted wirelessly or via cable to an image display unit of a C-arm system, which switches back and forth between different image data sets. This two-stage procedure prevents unintentional triggering of an action.

[0084] In FIG 7 A command transmission system 70 according to an embodiment of the invention is shown schematically. Such a command transmission system 70 is used, for example, in the following: FIG 5 The system shown, 50, is used. This is in FIG 7 The command transmission system 70 shown comprises a transmitter unit 2M attached to the clothing of an operator P, for example a shoe, and a receiver unit 2S mounted on an imaging medical device system (not shown). The design of the transmitter unit 2M largely corresponds to that shown in FIG 2 The structure of the command transmission device 2 shown there is similar to the one in [reference to a diagram]. FIG 2 The command transmission device 2 shown also includes the transmitting unit 2M and an energy generation and storage unit 6 in the form of an energy harvesting unit, with which the movement of the operator P can be converted into electrical energy and this energy can also be stored.

[0085] Additionally, the in FIG 7 The transmitter unit 2M shown includes a speech recognition unit 4a, which can analyze acoustic sensor signals, such as those acquired by an external acoustic sensor unit and transmitted to the speech recognition unit 4a via the transmitter-receiver unit 5, for content information, i.e., words and sentence fragments. However, the transmitter unit 2M is configured as the master unit and serves to initialize a two-stage command sequence that enables the secure control of a safety-critical medical device. Therefore, the speech recognition unit 4a is not required in the transmitter unit 2M, which is installed as the master unit, and is thus not activated.Advantageously, a component 2S, largely identical in design to the transmitter unit 2S, can be used as a receiver unit 2S, in which the described function for evaluating acoustic information and for speech recognition is applied. The receiver unit 2S differs from the transmitter unit 2M in that its power supply 6a is not based on motion utilization, since the receiver unit 2S is permanently mounted on a medical device and therefore cannot use kinetic energy to generate electrical energy. The power supply 6a mounted on the receiver unit 2S can, for example, comprise a battery unit or a mains connection. The receiver unit 2S is also connected to an actuator unit 12 via a data transmission line. The actuator unit 12 comprises a system microcontroller 16 and, for example, a switch arrangement 17 with which a function of the medical device can be triggered.

[0086] The functioning of the in FIG 7 The command transmission system 70 shown is as follows: If the operator P wants to trigger a function of the medical device, they first move their foot in a predetermined way. For example, they tap once with their heel, once with their toes, and once again with their heel. The sensor signals triggered by these movements from the pressure sensors 3a, 3b, 3c of the transmitter unit 2M are transmitted to the evaluation unit 4 of the transmitter unit 2M. The evaluation unit 4 of the transmitter unit 2M then recognizes, based on the detected sensor signals, that the speech recognition 4a of the receiver unit 2S should be activated. Therefore, an initialization command IB is transmitted via the radio unit 5 or its antenna 7 to the radio unit 5 of the receiver unit 2S.The receiver unit 2S, through its evaluation unit 4, interprets the received initialization command IB and activates its speech recognition unit 4a, as it now expects a speech command ASB. The operator P then gives a speech command ASB, for example, saying "Power on" to trigger a radiation activation of the medical device. The speech command ASB is detected by an acoustic sensor unit 71, part of the receiver unit 2M (e.g., a microphone), and transmitted to the speech recognition unit 4a of the evaluation unit 4 of the receiver unit 2S. The speech recognition unit 4a of the receiver unit 2S then determines the content of the speech command ASB given by the operator P. In this case, it determines that a radiation activation is to be implemented. Therefore, a control command SB is transmitted via the data transmission unit 5 to the actuator unit 12 to trigger a radiation activation.The safety-critical radiation triggering is therefore only carried out if two independent commands, generated in different ways, are given in quick succession, so that accidental activation of radiation can be avoided.

[0087] In FIG 8 A command transmission system 80 according to an alternative embodiment of the invention is shown. The in FIG 8 The command transmission system 80 shown also includes, like the one in FIG 7 The command transmission system 70 shown comprises a transmitting unit 20a and a receiving unit 20b. The transmitting unit 20a is configured as a master unit, i.e., the transmitting unit 20a serves to control the command acquisition by the receiving unit 20b, which is configured as a slave unit.

[0088] The one at the in FIG 8 The command transmission system 80 used transmitting unit 20a is structurally the same as in FIG 4 The gesture shoe sensor 20 shown is replicated. In particular, the one shown in FIG 8 The transmitter unit 20a shown includes an inertial sensor 21, which can detect a gesture, i.e., a movement of a shoe, by measuring acceleration and rotation. The transmitter unit 20a comprises a plurality of different sensors 3a, 3b, 3c, 21, to flexibly respond to different input types, as well as an evaluation unit 4 for evaluating sensor signals and assigning command content to detected movements, voice commands, or visually detectable postures or gestures of an operator. The transmitter unit 20a has pressure sensor units 3a, 3b, 3c, which can detect a shift in weight of the foot, for example, to the toes or the heel. Furthermore, as already mentioned, the transmitter unit 20a includes an inertial sensor unit 21, which can detect accelerated movements of a shoe.Furthermore, the transmitter unit 20a includes a speech recognition unit 4a, which is part of the evaluation unit 4 and enables the recognition of speech commands based on acoustic measurement data. Acoustic measurement data can be received, for example, via the transmitter-receiver unit 5 from an acoustic sensor 71, such as a microphone, and evaluated by the speech recognition unit 4a. Unlike the previous [system / device]... FIG 1 bis FIG 7 The variants shown include the one in FIG 8 The transmitter unit 20a shown includes an image analysis unit 4b, which is part of the evaluation unit 4, for recognizing gestures of the operator in image data, which are captured, for example, by an external video camera 81 and subsequently evaluated by the image analysis unit 4b of the transmitter unit 20a.

[0089] Furthermore, the in FIG 8 The transmitter unit 20a shown, as well as the one in FIG 4 The shoe sensor 20 shown is connected to a unit 25 for transmitting haptic feedback. If an operator P moves their shoe or performs a movement that can otherwise be detected by one of the described sensors in order to activate a gesture or speech recognition function of the receiving unit 20b, the sensor signals are evaluated by the evaluation unit 4 of the transmitting unit 20a and information associated with these signals is determined.

[0090] The evaluation unit 4 of the transmitter unit 20a, if it detects a gesture or voice command indicating an initialization command IB, sends a corresponding command signal to the transmitter-receiver unit 5 and additionally transmits a control signal HS to unit 25 for haptic feedback. Unit 25 then generates a mechanical signal, for example, a vibration VB, which informs the operator P or the wearer of the gesture shoe sensor that the command IB, generated by a gesture and / or voice command, has been recognized and transmitted. The command IB then, for example, activates an input for a medical imaging device.The operator P can then trigger a function of a medical imaging device by means of a further gesture, for example by a hand movement or an eye or head movement, or a voice command or a combination thereof.

[0091] For example, an initialization command IB is determined, which is intended to activate the visual gesture recognition 4b and speech recognition 4a of the evaluation unit 4 of the receiver unit 20b. After the receiver unit 20b, which is essentially identical in design to the transmitter unit 20a, has received the initialization command IB via its transmit-receiver unit 5 and activated its speech recognition unit 4a and its image analysis unit 4b, the operator P can perform a gesture, for example, a head movement KB, and simultaneously issue a voice command ASB. The head movement KB is detected by an external camera 81 and transmitted to the transmit-receiver unit 5 of the receiver unit 20b. The voice command is detected by a microphone integrated into the receiver unit 20b and transmitted to the speech recognition unit 4a of the receiver unit 20b.

[0092] The microcontroller 4 of transmitter unit 20a also evaluates sensor signals from sensors 3a, 3b, and 3c. If it detects a gesture indicating an initialization command IB, it outputs a corresponding command signal to the transceiver unit 5 and additionally transmits a control signal HS to unit 25 for haptic feedback. Unit 25 then generates a mechanical signal, such as a vibration VB, to inform the operator or wearer of the gesture shoe sensor 20a that the command they generated through a gesture has been recognized and transmitted. This command then, for example, activates an input for a medical imaging device.The operator can then switch on and adjust an X-ray tube by means of a further gesture, for example a hand movement or an eye or head movement and possibly a simultaneous voice command.

[0093] The receiving unit 20b is constructed analogously to the transmitting unit 20a, but lacks several different sensors 3a, 3b, 3c, 21, as these are not required for the receiving function. Furthermore, the receiving unit 20a includes a speech recognition unit 4a, with which, for example, speech commands from a microphone 71 can be received, recorded, and evaluated. Analogous to the transmitting unit 20a, the receiving unit 20b comprises the following components: FIG 8The receiver unit 20b shown also includes an image analysis unit 4b for evaluating image data from an external optical sensor unit, for example, a video camera 81. The video camera 81 can, for example, capture gestures of the operator P, which are then evaluated by the evaluation unit 4 or the image analysis unit 4b of the receiver unit 20b. If gestures and voice commands are recognized by the image analysis unit 4b or the speech recognition unit 4a of the receiver unit 20b, an action command is transmitted to an actuator unit 12, which triggers a function of the medical imaging device. For this purpose, the actuator unit comprises a system microcontroller 16 and, for example, a switch assembly 17, which can be used to trigger a function of the medical device.

[0094] Finally, it should be noted once again that the methods and devices described above are merely preferred embodiments of the invention and that the invention can be modified by a person skilled in the art without departing from the scope of the invention, insofar as it is defined by the claims. The method and the command transmission device were primarily explained using a system for acquiring medical image data. However, the invention is not limited to applications in the medical field; it can also be applied, in principle, to the acquisition of images for other purposes. For the sake of completeness, it should also be noted that the use of the indefinite articles "a" or "an" does not preclude the possibility that the features in question may be present multiple times.Likewise, the term "unit" does not preclude the possibility that it consists of several components, which may also be spatially distributed.

Claims

1. Command communication system (70, 80), having: - a first command communication facility (2M, 20a), which has - a sensor unit (3a, 3b, 3c, 21, 71, 81) for detecting a movement of an operator (P), - a fixing unit (2a) for securing the sensor unit (3a, 3b, 3c, 21, 71, 81) and / or the command communication facility to the operator (P), - an evaluation unit (4, 4a, 4b, 15, 22) for evaluating the detected movement of the operator (P) and for identifying a command (IB, ASB, KB) on the basis of the detected movement, and - a command communication unit for transmitting a control command to a medical facility (50) that is to be operated on the basis of the identified command (IB, ASB, KB), wherein the sensor unit (3a, 3b, 3c, 21) comprises an internal gesture sensor unit for gesture recognition, - is embodied as a master facility for a bidirectional exchange with at least one slave facility, - whose gesture sensor unit (3a, 3b, 3c, 21) is activated and - which is configured to transmit a determined command (IB) to a second command communication facility (2S, 20b), - the second command communication facility (2S, 20b), which - is disposed at a distance from the operator (P), preferably on a medical facility (50) that is to be operated, - is embodied as a slave facility for a bidirectional data exchange with a master facility, - includes an evaluation unit (4) which comprises at least one of the following subunits: - a gesture recognition unit (4b) which is activated from a distance to the operator (P) for the purpose of detecting a movement or gesture of an operator (P), - a voice recognition unit (4a) having a voice recognition capability, and - which is configured to receive the command (IB) received by the first command communication facility (2M, 20a) and to transmit a control command (SB) to the medical facility (50) based on the received command (IB).

2. Command communication system according to claim 1, wherein the gesture recognition of the first command communication facility is realized by detection of a movement of the sensor unit (3a, 3b, 3c, 21) or of a mechanical force acting on the sensor unit (3a).

3. Command communication system according to claim 1 or 2, wherein the fixing unit (2a) of the first command communication facility is embodied to secure the gesture sensor unit (3a, 3b, 3c, 21) to or in an article of clothing, preferably in a shoe (1).

4. Command communication system according to claim 3, wherein the fixing unit (2a) of the first command communication facility is embodied as a recess in the sole of the shoe (1).

5. Command communication system according to one of the preceding claims, wherein the command communication unit of the first command communication facility includes a radio transmission unit (5, 7) for transmitting the identified command (IB) to the medical facility (50) that is to be operated.

6. Command communication system according to one of the preceding claims, wherein the first command communication facility further has an energy generation and storage unit (6) which is preferably configured to generate electrical energy from the kinetic energy of the operator (P).

7. Command communication system according to one of the preceding claims, wherein - the sensor unit (71) of the first command communication facility comprises an acoustic sensor unit and - the evaluation unit (4, 15, 22) comprises a voice recognition unit (4a) for recognizing and interpreting voice commands of the operator (P).

8. Command communication system according to one of the preceding claims, wherein the internal gesture recognition function of the first command communication facility recognizes one of the following function commands: - scrolling images on an image display of a medical device (50), - changing parameters of a medical device (50).

9. Command communication system (2, 10, 20) according to one of the preceding claims, wherein - the first command communication facility (2, 2M, 20a) is configured to - identify a gesture which initializes a voice command (ASB), - initialize a startup of the second command communication facility (2S, 20b) on the basis of the identified gesture, - the second command communication facility (2S, 20b) is configured to - receive an initialization command (IB) from the first command communication facility (2M, 20a), - activate the voice recognition unit (4a) and / or the gesture recognition unit (4b) on the basis of the initialization command (IB).

10. Command communication system (70, 80) according to claim 9, wherein the second command communication facility (2M, 20b) is configured to detect and identify a voice command (ASB) from the operator (P) following activation of the voice recognition unit (4a) and to transmit a control command (SB) to the medical facility (50) on the basis of the identified voice command (ASB).

11. Command communication system according to one of the preceding claims, wherein the gesture recognition unit (4b) or the voice recognition unit (4a) comprises a capability to recognize the following confirmation signals: - a release of radiation, - movements of the medical device (50).

12. Command communication system according to one of the preceding claims, wherein the gesture recognition unit (4b) is embodied to detect one of the following gestures: - gripping or releasing using hands or fingers, zooming, moving, - moving eyes left, right, up, down, blinking, - moving head left or right.

13. Command communication system according to one of the preceding claims, wherein the first command communication facility (2M, 20a) is configured to transmit haptic feedback to the operator (P) in response to a recognized command.

14. Operating system having, - an imaging medical facility (50), - an operating facility, a command communication system (70, 80) according to one of the preceding claims, configured to transmit a control command (SB) to the imaging medical facility (50).

15. Command communication method having the steps: - detecting a movement of an operator by means of a sensor unit of a first command communication facility, wherein the sensor unit and / or the first command communication facility is secured to the operator by means of a fixing unit, - evaluating the detected movement of the operator and identifying a command on the basis of the detected movement by means of an evaluation unit of the first command communication facility, - transmitting a control command to a medical facility that is to be operated on the basis of the identified command by means of a command communication unit of the first command communication facility, wherein o the sensor unit comprises an internal and activated gesture sensor unit for gesture recognition, o the first command communication facility • is embodied as a master facility for a bidirectional exchange with at least one slave facility and is configured to transmit a determined command to a second command communication facility, ∘ the second command communication facility • is disposed at a distance from the operator, preferably on a medical facility that is to be operated, • is embodied as a slave facility for a bidirectional data exchange with a master facility, • includes an evaluation unit which comprises at least one of the following subunits: • a gesture recognition unit (4b) which is activated from a distance to the operator (P) for the purpose of detecting a movement or gesture of an operator (P), and • a voice recognition unit (4a) with a voice recognition capability, and - receiving the command transmitted by the first command communication facility by means of the second command communication facility and - transmitting a control command to the medical facility based on the command received.

16. Computer program product with a computer program which is stored directly in a memory facility of a command communication system (70, 80), with program sections for performing all the steps of the method according to claim 15 when the computer program is executed in the command communication system (70, 80).

17. Computer-readable medium on which program sections that can be read in and executed by a computer unit are stored in order to perform all the steps of the method according to claim 15 when the program sections are executed by the computer unit.