Couch guiding system, medical device, couch, and medical image diagnostic system

Abstract

To provide a couch guiding system capable of reducing an operation load of a dockable-type couch, a medical device, a couch, and a medical image diagnostic system.SOLUTION: A couch guiding system includes: one or more sensors that can obtain information on a positional relation between a medical device including a docking part to which a couch is connected, and the couch; one or more processors that execute processing of displaying guide information to guide the couch to the docking part on the basis of the information obtained from the one or more sensors; and one or more display devices that display the guide information.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present disclosure relates to a hospital bed guidance system, a medical device, a hospital bed, and a medical imaging diagnosis system, and particularly relates to a technology for assisting in the operation of a mobile hospital bed that is detachable from a medical device when docking the hospital bed with the medical device.

Background Art

[0002] Medical imaging diagnosis systems such as magnetic resonance imaging (MRI) devices and computed tomography (CT) devices have a structure in which a subject placed on a hospital bed is inserted into an imaging space of a main body of a medical imaging device called a gantry for imaging. Patent Documents 1-3 disclose a mobile hospital bed that is detachable from the main body of an MRI device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] The gantry to which a movable dockable bed is connected is provided with a docking part, which is a connection mechanism with the bed, and the bed is provided with a connection mechanism that engages with the docking part on the gantry side. When moving the bed to the docking position, the operator of the bed needs to operate the bed while being careful not to accidentally hit the bed against the cover of the gantry or the like. Usually, the docking part is arranged at a low position near the lower part of the front of the gantry. When the bed approaches the gantry, it becomes difficult for the operator pushing the bed to see the docking part. In a medical site, the operator of the bed often tends to carefully operate the bed while visually checking the docking part on the gantry side.

[0005] On the other hand, the connection mechanism adopted in the docking part on the gantry side has a guide mechanism that enables docking if the angle at which the bed approaches is within a certain angle range (see Patent Document 3). Therefore, the bed does not need to face the docking part of the gantry from the front. If it moves roughly within the allowable certain angle range, it will be mechanically guided and connected by the docking part.

[0006] However, even if it is equipped with a connection mechanism having an allowable angle range for the approach angle of such a bed, from the perspective of a general operator, the operation of the bed becomes cautious.

[0007] The present disclosure has been made in view of such circumstances, and an object thereof is to provide a bed guidance system, a medical device, a bed, and a medical image diagnosis system that can reduce the operation burden of a dockable bed.

Means for Solving the Problems

[0008] The bed guidance system according to the first aspect of the present disclosure includes one or more sensors that obtain information regarding the positional relationship between a medical device having a docking part to which a bed is connected and the bed, and one or more processors that execute a process of displaying guidance information for guiding the bed to the docking part based on the information obtained from the one or more sensors, and one or more display devices that display the guidance information.

[0009] According to the first aspect, the positional relationship between the medical device and the hospital bed is grasped using one or more sensors, and based on the information obtained from the one or more sensors, guide information for guiding the hospital bed to the docking unit is displayed on one or more display devices. The operator of the hospital bed can dock the hospital bed to the medical device by operating the hospital bed according to the guide information. The display of the guide information reduces the operation burden during the docking operation.

[0010] The hospital bed guidance system according to the second aspect is the hospital bed guidance system according to the first aspect, wherein the medical device may be a gantry of a medical imaging device that captures a medical image of a subject.

[0011] The hospital bed guidance system according to the third aspect is the hospital bed guidance system according to the first aspect or the second aspect, wherein the one or more sensors may be arranged in at least one of the medical device and the hospital bed.

[0012] The hospital bed guidance system according to the fourth aspect is the hospital bed guidance system according to any one of the first aspect to the third aspect, wherein the one or more sensors may be arranged in at least one of the ceiling and the wall of the room where the medical device is arranged.

[0013] The hospital bed guidance system according to the fifth aspect is the hospital bed guidance system according to any one of the first aspect to the fourth aspect, wherein the one or more sensors may include a camera.

[0014] The hospital bed guidance system according to the sixth aspect is the hospital bed guidance system according to the fifth aspect, wherein the one or more processors may be configured to grasp the positional relationship between the medical device and the hospital bed by analyzing the image obtained from the camera.

[0015] The hospital bed guidance system according to the seventh aspect is the hospital bed guidance system according to any one of the first aspect to the sixth aspect, wherein the one or more display devices may be arranged in at least one of the medical device and the hospital bed.

[0016] The hospital bed guidance system according to the eighth aspect may be configured such that, in the hospital bed guidance system according to any one of the first to seventh aspects, one or more processors generate guidance information based on information obtained from one or more sensors.

[0017] The hospital bed guidance system according to the ninth aspect may be configured such that, in the hospital bed guidance system according to any one of the first to eighth aspects, the guidance information includes information indicating a travel route for guiding the hospital bed to the docking unit.

[0018] The hospital bed guidance system according to the tenth aspect may be configured such that, in the hospital bed guidance system according to any one of the first to ninth aspects, the guidance information includes information indicating an angle range within which the hospital bed can be docked with respect to the docking unit.

[0019] The hospital bed guidance system according to the eleventh aspect may be configured such that, in the hospital bed guidance system according to any one of the first to tenth aspects, the information regarding the positional relationship includes distance information between the medical device and the hospital bed.

[0020] The hospital bed guidance system according to the twelfth aspect may be configured such that, in the hospital bed guidance system according to any one of the first to eleventh aspects, one or more processors cause the guidance information to be displayed on one or more display devices when the distance between the medical device and the hospital bed becomes equal to or less than a first distance.

[0021] The hospital bed guidance system according to the thirteenth aspect may be configured such that, in the hospital bed guidance system according to the twelfth aspect, one or more processors maintain the display of the guidance information until docking is completed when the display of the guidance information on one or more display devices is started.

[0022] The bed guidance system according to the 14th aspect is the bed guidance system according to the 1st aspect to the 13th aspect, wherein one or more processors may be configured to disable the guidance information when undocking the bed from the medical device and enable the guidance display function after a predetermined time has elapsed since undocking.

[0023] The bed guidance system according to the 15th aspect is the bed guidance system according to any one of the 1st aspect to the 14th aspect, wherein the bed is provided with electric assist casters that provide driving assistance to the bed, and one or more processors may be configured to perform control to reduce the driving assistance of the electric assist casters when the distance between the medical device and the bed becomes equal to or less than a second distance.

[0024] Note that stopping the assist function by the electric assist casters is included in the concept of reducing the driving assistance.

[0025] The bed guidance system according to the 16th aspect is the bed guidance system according to any one of the 1st aspect to the 15th aspect, wherein the bed is provided with steering casters for changing the traveling direction of the bed, and one or more processors may be configured to control the steering casters so as to direct the bed toward the docking unit based on information obtained from one or more sensors.

[0026] The medical device according to the 17th aspect includes a docking unit to which the bed is connected, one or more sensors from which information regarding the positional relationship with the bed can be obtained, one or more processors that execute a process of displaying guidance information for guiding the bed to the docking unit based on information obtained from the one or more sensors, and one or more display devices that display the guidance information.

[0027] In the medical device according to the 17th aspect, it can be configured to include the same specific aspects as the bed guidance system according to the 2nd aspect to the 16th aspect.

[0028] The bed according to the 18th aspect is a bed that is detachable from a docking unit provided in a medical device, and includes one or more sensors that obtain information regarding the positional relationship between the medical device and the bed, and one or more processors that execute a process of displaying guide information for guiding the bed to the docking unit based on the information obtained from the one or more sensors, and one or more display devices that display the guide information.

[0029] In the bed according to the 18th aspect, it can be configured to include the same specific aspects as the bed guidance system according to the 2nd to 16th aspects.

[0030] The medical image diagnostic system according to the 19th aspect includes a gantry having a docking unit to which the bed is connected, a bed that is detachable from the docking unit, one or more sensors that obtain information regarding the positional relationship between the gantry and the bed, one or more processors that execute a process of displaying guide information for guiding the bed to the docking unit based on the information obtained from the one or more sensors, and one or more display devices that display the guide information.

[0031] In the medical image diagnostic system according to the 19th aspect, it can be configured to include the same specific aspects as the bed guidance system according to the 2nd to 16th aspects.

Advantages of the Invention

[0032] According to the present disclosure, the operation burden of the bed that is detachable from the medical device can be reduced.

Brief Description of the Drawings

[0033]

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Figure 15

[0034] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0035] 〔First Embodiment〕 FIG. 1 is a perspective view showing a configuration example of a medical imaging diagnostic system 10 to which a bed guidance system according to the first embodiment is applied. The medical imaging diagnostic system 10 includes a gantry 20 which is a medical imaging device main body for imaging a medical image of a subject, and a movable bed 30 which is detachable from the gantry 20.

[0036] The gantry 20 may have any configuration as long as it is configured to image the image of the subject mounted on the bed 30. Here, the case where the medical imaging diagnostic system 10 is an MRI device will be described as an example, but it is not limited to the MRI device, and other modality devices such as a CT device and a PET (positron emission tomography) device may be used. The gantry 20 is an example of the "medical device" in the present disclosure.

[0037] Although the detailed configuration of the gantry 20 of the MRI device is not shown, the gantry 20 includes a static magnetic field generator for generating a static magnetic field, a gradient magnetic field coil, a radio frequency (RF) magnetic field pulse transmission coil, a shim coil for static magnetic field correction, and a gantry cover 21 covering these elements. The static magnetic field generator of the gantry 20 shown in FIG. 1 is cylindrical with the axial direction horizontal, and the internal space of the cylinder becomes the imaging space 22, but it is not limited to the cylindrical static magnetic field generator.

[0038] The MRI device further includes, as a power supply, control and signal processing system (not shown), a gradient magnetic field power amplifier for supplying current to the gradient magnetic field coil, a high frequency power amplifier for supplying a high frequency signal to the RF magnetic field pulse transmission coil, a high frequency amplifier circuit, a computer, an operation unit, and a display.

[0039] The gantry 20 is arranged in an electromagnetically shielded room (for example, an examination room). The power supply, control and signal processing system are arranged outside the electromagnetically shielded room and are electrically connected to the gantry 20 by cables.

[0040] The static magnetic field generating device generates a static magnetic field in the imaging space 22, and the shim coil generates a magnetic field that improves the uniformity of this static magnetic field to a predetermined value or more. The gradient magnetic field coils generate gradient magnetic fields in the imaging space 22 in the predetermined XYZ directions, respectively. The RF magnetic field pulse transmitting coil transmits an RF magnetic field pulse to the imaging space 22.

[0041] The computer outputs control signals to the gradient magnetic field power amplifier, the high-frequency power amplifier, and the high-frequency amplifier circuit, and controls the application timing and direction of the gradient magnetic field, the irradiation timing of the RF magnetic field pulse, etc. according to a predetermined imaging sequence. Thereby, the nuclear magnetic resonance (NMR) signal generated from the subject is received by a receiving coil disposed near the subject. The high-frequency amplifier circuit detects and amplifies this signal under the control of the computer. The computer performs processes such as reconstructing an image from the obtained signal according to a predetermined image reconstruction program and displaying it on a display. The operation unit receives imaging conditions and the like from an examiner.

[0042] The stretcher 30 includes a top plate 31 for mounting a subject, a top plate holding portion 32 that holds the top plate 31, a frame that holds the top plate holding portion 32 so as to be vertically movable, a vertical driving portion that moves the top plate holding portion 32 up and down, a horizontal driving mechanism for moving the top plate 31 in a horizontal direction with respect to the top plate holding portion 32, a horizontal driving portion that drives the horizontal driving mechanism, wheels 33 attached to the lower part of the frame, a bellows 35 and a cover 36 that cover the outer periphery of the frame, and a handle portion 38. With these configurations, the stretcher 30 can raise the top plate 31 to the height of the imaging space 22 of the gantry 20 and insert it into the imaging region by sliding the top plate 31 in a horizontal direction with respect to the top plate holding portion 32. Thereby, the imaging site of the subject is conveyed to the center of the imaging space 22.

[0043] The hospital bed 30 is a detachable hospital bed that can be separated from the gantry 20 and moved. The operator of the hospital bed 30 can move the hospital bed 30 by manually pressing the handle portion 38 of the hospital bed 30. For example, the hospital bed 30 can be moved to a front room where the magnetism of the gantry 20 does not reach, the patient's hospital room, etc., and the patient can be placed on the hospital bed 30. After the patient is placed, the hospital bed 30 can be moved with the patient on it and docked to the gantry 20.

[0044] On the front of the gantry 20, there is provided a docking portion 24 as a connecting mechanism for mechanically and electrically connecting the hospital bed 30. At the front end portion of the hospital bed 30, there is provided a docking portion 34 as a connecting mechanism detachable from the docking portion 24 of the gantry 20. When the docking portion 34 of the hospital bed 30 fits into the docking portion 24 of the gantry 20, the hospital bed 30 is connected (docked) to the gantry 20. Regarding the mechanical structure of the docking portion 24 and the docking portion 34, for example, the structure described in Patent Document 3 can be applied. The docking portion 24 is provided with a guide mechanism having a mechanical structure that guides (guides) the movement of the hospital bed 30 and enables docking as long as the approaching angle of the hospital bed 30 is within a certain angle range.

[0045] The medical imaging diagnosis system 10 includes a camera 42 and a display device 44 as a hospital bed guidance system that assists in operating the hospital bed 30 when docking the hospital bed 30 to the gantry 20. Based on the positional relationship between the hospital bed 30 and the gantry 20 grasped from the image taken by the camera 42, guide information for guiding the hospital bed 30 to the docking portion 24 of the gantry 20 is displayed on the display device 44. Note that the term "hospital bed guidance system" includes the concepts of terms such as, for example, a docking assistance system, a hospital bed operation support system, or a docking guidance system, and the name of the system can also be replaced with these terms.

[0046] FIG. 2 is a block diagram schematically showing the configuration of a bed guidance system 40 incorporated in the gantry 20. The bed guidance system 40 includes a camera 42, a display device 44, a processor 46, and a memory 48. The camera 42 is an example of a sensor from which information regarding the positional relationship between the gantry 20 and the bed 30 can be obtained.

[0047] The camera 42 typically includes an imaging optical system including one or more lenses, and an image sensor that images an optical image formed by the imaging optical system and converts it into an electrical signal. The image sensor is constituted by, for example, a CMOS (Complementary Metal-Oxide Semiconductor) type color image sensor. Note that the image sensor is not limited to the CMOS type, and may be an XY address type or a CCD (Charge Coupled Device) type image sensor. Further, the camera 42 may include an image processing circuit that processes an electrical signal obtained from the image sensor and digitizes it.

[0048] The camera 42 is attached, for example, to the upper part of the front of the gantry 20 (see FIG. 1). The camera 42 is preferably disposed near directly above the docking portion 24 so that the bed 30 approaching the docking portion 24 of the gantry 20 can be captured from the front as much as possible. The number of cameras 42 may be one or a plurality. By using a plurality of cameras, it becomes possible to grasp the position of the bed 30 more accurately.

[0049] The display device 44 may be, for example, a gantry monitor attached to the front of the gantry 20. The screen size of the display device 44 is preferably a relatively large screen size so that an operator pressing the handle portion 38 of the bed 30 can easily view the display content of the display device 44 from behind the bed 30. The number of display devices 44 is not limited to one, and may be a plurality.

[0050] Processor 46 includes a CPU (Central Processing Unit). The processor 46 may be configured to include one or more processors such as a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), and a PLD (Programmable Logic Device).

[0051] Memory 48 includes a RAM (Random Access Memory). The memory 48 may include a ROM (Read Only Memory). Programs, data, etc. for enabling the processor 46 to realize various functions are stored in the memory 48. The processor 46 functions as various processing units by executing the instructions stored in the memory 48. The bed guidance system 40 may include a storage (not shown). The storage may be, for example, a hard disk drive (HDD), a solid state drive (SSD), or a combination of these. Also, the storage may include an external storage device such as a removable medium.

[0052] The processor 46 and the memory 48 may be mounted on a control board within the gantry 20. Also, part or all of the processor 46 and the memory 48 may be included in a computer connected to the gantry 20.

[0053] The processor 46 recognizes the bed 30 from the image captured by the camera 42, grasps the positional relationship between the gantry 20 and the bed 30 by image analysis, and performs a process of causing the display device 44 to display guide information such as a travel route for guiding the bed 30 to the docking unit 24.

[0054] The bed guiding system 40 may further include a sound output device (not shown). When the bed 30 deviates from the travel route, the processor 46 may perform a process of outputting a notification sound from the sound output device to notify the operator of the bed 30 by sound.

[0055] Further, when the bed 30 enters an angle range where docking is possible, the processor 46 may notify the operator through the display device 44 and / or the sound output device.

[0056] The processor 46 functions as an image acquisition unit 50, an image processing unit 52, and a display control unit 54. The image acquisition unit 50 acquires an image captured by the camera 42. The image processing unit 52 processes an image obtained from the camera 42 (hereinafter referred to as a "camera image"). The image processing unit 52 includes a bed recognition unit 60, a travel route calculation unit 62, and a guidance information generation unit 64.

[0057] The bed recognition unit 60 recognizes the bed 30 from the camera image and grasps the positional relationship between the gantry 20 and the bed 30. By analyzing the camera image, the bed recognition unit 60 can grasp the position and orientation of the bed 30 shown in the camera image. The bed recognition unit 60 may be configured to include a trained model trained to perform object detection using, for example, a machine learning algorithm, or may be configured to perform image recognition processing such as pattern matching.

[0058] Since the position of the camera 42 attached to the gantry 20 is fixed and the positional relationship between the camera 42 and the docking unit 24 is invariant (fixed), the bed recognition unit 60 can grasp the positional relationship between the docking unit 24 of the gantry 20 and the docking unit 34 of the bed 30. Grasping the positional relationship between the gantry 20 and the bed 30 includes the concept of grasping the positional relationship between the docking unit 24 and the docking unit 34. The bed recognition unit 60 acquires information such as the relative position of the bed 30 with respect to the gantry 20, the orientation of the bed 30, and the traveling direction.

[0059] A method of measuring the distance to a subject in an image by image analysis may, for example, be configured to use a predetermined position shown in the camera 42 as a specific distance. The relationship between the predetermined position and the specific distance may be obtained by performing calibration at the time of system introduction.

[0060] The travel route calculation unit 62 calculates a desirable travel route as a route for moving the sleeping car 30 to the docking position with the docking unit 24 from the positional relationship between the gantry 20 and the sleeping car 30 grasped by the sleeping car recognition unit 60. In the calculation of the travel route, the angular range of the approach angle allowed by the docking unit 24 is considered.

[0061] The guide information generation unit 64 generates guide information for guiding the sleeping car 30 to the docking unit 24 of the gantry 20 based on the calculation result of the travel route calculation unit 62. The guide information may be, for example, an arrow or a line indicating a desirable (ideal) travel route of the sleeping car 30, an arrow indicating the desirable traveling direction of the sleeping car 30, or a line indicating the range of the allowed traveling direction, or an appropriate combination thereof. The guide information is not limited to graphics such as arrows and lines, and may include characters, symbols, marks, etc. The guide information is not limited to information generated adaptively (dynamically) from the positional relationship between the gantry 20 and the sleeping car 30, and may include fixed information such as a line indicating the angle range that can be docked.

[0062] The display control unit 54 generates a display signal necessary for display output to the display device 44 and controls the display of the display device 44. The display control unit 54 causes the display device 44 to display the guide information based on the processing result of the image processing unit 52. The display of the guide information and the sleeping car 30 and the like on the display device 44 may be displayed, for example, by an illustration, or a navigation line or the like may be superimposed on a live-action video (camera image) by the camera 42, or a combination thereof.

[0063] The display of the guide information for assisting such docking operation is preferably performed when the bed 30 approaches within a predetermined distance with respect to the gantry 20. The processor 46 recognizes that the bed 30 has approached the gantry 20, starts the process of the guide display, and displays the guide information on the display device 44.

[0064] FIG. 3 is an explanatory diagram showing an example of the angular range of the allowable bed entry angle with respect to the docking portion 24 of the gantry 20 and an example of the predetermined distance for determining the start timing of the guide display. The docking possible angular range of the docking portion 24 can be determined in advance as a fixed value. As shown in FIG. 3, the entry angle of the bed 30 into the docking portion 24 is allowed within an angular range of, for example, 30 degrees on each of the right side and the left side based on the front (0 degrees). It is assumed that the bed 30 entering at the entry angle within this angular range can be docked to the docking portion 24. Such an angular range is determined from the mechanical structure of the docking portion 24. Further, this angular range may be determined in consideration of the position and size of the bed 30, the size of the room where the gantry 20 is placed, the position of the entrance and exit, and the like.

[0065] Regarding the distance between the gantry 20 and the bed 30, which is the criterion for determining whether to start the display of the guide information, it can also be set in advance to an appropriate value (predetermined distance). For example, this predetermined distance may be set to 2 m. 2 m as the predetermined distance is an example of the "first distance" in the present disclosure. In this case, when the distance between the gantry 20 and the bed 30 approaches 2 m or less, the display of the guide information is started.

[0066] FIG. 4 is a diagram showing an example of display of guide information. In the display device 44, for example, as shown in FIG. 4, guide information for guiding the bed 30 to the docking unit 24 is displayed. The processor 46 recognizes that the bed 30 has approached within a predetermined distance with respect to the gantry 20, performs image analysis for guiding the bed 30 to the docking unit 24, and displays an arrow AR1 indicating an ideal travel route of the bed 30 with respect to the dockable angle range. In accordance with the image analysis result, an illustration of the bed 30 or a moving image of a real-life video showing the positional relationship between the docking unit 24 and the bed 30 is displayed on the display device 44.

[0067] For example, the bed 30 is shown in a real-life video, and an arrow AR1 and / or a line indicating an ideal travel route are superimposed on this real-life video. Further, in addition to the arrow AR1, or instead of the arrow AR1, an arrow AR2 indicating the traveling direction of the bed 30 may be displayed.

[0068] Also, in FIG. 4, an example is shown in which a line LN indicating a dockable angle range with respect to the docking unit 24 is displayed together with the arrows AR1 and AR2. Although a form in which the line LN indicating the dockable angle range is not displayed in the guide display is also possible, it is desirable to display the line LN indicating the dockable angle range with respect to the docking unit 24 in order to inform the operator that there is no problem even if the bed 30 enters diagonally with respect to the docking unit 24.

[0069] The display form of the information indicating the dockable angle range is not limited to the display by the line LN, and may be, for example, by a figure or coloring indicating the angle range. The information indicating the dockable angle range may be displayed together with the display of the arrow AR1 and / or the arrow AR2, or the guide information indicating the angle range may be displayed without displaying the arrow AR1 and / or the arrow AR2.

[0070] FIG. 5 is a flowchart showing an example of the operation of the bed guidance system 40 according to the first embodiment. In step S10, the operator of the bed 30 starts the operation of the bed 30 (docking operation) for docking the bed 30 to the gantry 20. The bed 30 may be configured to travel by the force (manual force) pushed by the operator. Note that the bed 30 may be provided with electric assist casters, and may be configured to travel by a combination of manual force and the power of the electric assist casters.

[0071] In step S11, the processor 46 acquires the image captured by the camera 42 and recognizes the bed 30 from the camera image.

[0072] In step S12, the processor 46 grasps the positional relationship between the gantry 20 and the bed 30 from the camera image and acquires the distance information between the gantry 20 and the bed 30.

[0073] In step S13, the processor 46 determines whether the distance between the gantry 20 and the bed 30 has approached a predetermined distance or less. The predetermined distance may be the distance set as the guide display start determination distance described with reference to FIG. 3. If the determination result in step S13 is a No determination, the processor 46 returns to step S12.

[0074] If the determination result in step S13 is a Yes determination, the processor 46 proceeds to step S14.

[0075] In step S14, the processor 46 generates guide information indicating a travel route for guiding the bed 30 to the docking position by image analysis of the camera image.

[0076] In step S15, the processor 46 causes the guide information to be displayed on the gantry monitor (display device 44).

[0077] In step S16, the operator maneuvers the stretcher 30 to the docking position according to the guidance of the guide information displayed on the gantry monitor. The stretcher 30 moves toward the docking position by the operator's manual operation or a combination of manual operation and the power of the electric assist casters.

[0078] In step S17, the processor 46 determines whether the docking is completed. If the determination result in step S17 is a No determination (docking not completed), the processor 46 returns to step S14.

[0079] If the determination result in step S17 is a Yes determination (docking completed), the processor 46 ends the guide display.

[0080] 〈Regarding the difference in display control during docking and undocking〉 The operation of docking the stretcher 30 to the gantry 20 is performed before imaging a medical image. When maneuvering the stretcher 30 for this docking (during docking maneuvering), when the stretcher 30 approaches the gantry 20 to a predetermined distance (for example, 2 m), the display of guide information starts. After the start of the guide display, the guide display is maintained until the docking is completed. That is, the processor 46 detects the movement of the stretcher 30 from the camera image, and when the stretcher 30 approaches in the direction of the gantry 20, even if it retreats midway after reaching the predetermined distance, the guide information remains displayed.

[0081] If the presence or absence of the guide display is determined only by the forward or backward movement of the stretcher 30, the guide display turns off when it temporarily retreats. If the on / off of the guide display is repeated during the maneuvering of the stretcher 30, there is concern that the screen display will be difficult to see and feel troublesome.

[0082] Therefore, before imaging a medical image, it is a more preferable mode for the operator to continue displaying the guide information until the docking is completed once the display of the guide information has started.

[0083] Then, during the undocking operation of detaching the hospital bed 30 from the gantry 20 after imaging the medical image, since it is not necessary to display the guidance information as in the docking operation, the guidance display function may be turned off (disabled). That is, the processor 46 makes the guidance information non-displayed during undocking.

[0084] After undocking, when performing the next medical imaging, the docking operation of the hospital bed 30 is performed again. At this time, since the display of the guidance information is required, it is preferable that the processor 46 enables the guidance display function after a predetermined time has elapsed after undocking. Even when the guidance display function is enabled at this time, the guidance information is actually displayed when the hospital bed 30 approaches the gantry 20 by a predetermined distance.

[0085] The switching between enabling and disabling the guidance display function may be performed automatically, or an instruction for enabling or disabling may be received via the user interface so that the operator can operate it.

[0086] 〈Example of additional configuration 1〉 When the processor 46 detects that there is an obstacle between the gantry 20 and the hospital bed 30 from the camera image, the processor 46 may cause the display device 44 to display that fact or give an audible notification.

[0087] 〔Advantages of the first embodiment〕 According to the first embodiment, the positional relationship between the hospital bed 30 and the gantry 20 is grasped using the camera 42, and the guidance information for guiding the hospital bed 30 to the docking position with the docking unit 24 is displayed on the display device 44. The operator of the hospital bed 30 can appropriately dock the hospital bed 30 by operating the hospital bed 30 according to the guidance information. This guidance display reduces the operation burden during the docking operation.

[0088] In addition, by displaying information on the angle range within which docking is possible as guide information, the operator can easily understand that the operator only needs to move the bed 30 within the allowable angle range. For this reason, the operator can understand that precise adjustment of the entry angle is not required and can operate the bed 30, thereby reducing the sense of burden.

[0089] [Modification Example 1] In FIG. 1, the gantry 20 equipped with the camera 42 was illustrated, but the camera 42 may be arranged at a location other than the gantry 20. FIG. 6 is a perspective view showing the configuration of a medical image diagnostic system 10A according to Modification Example 1 of the first embodiment. Regarding the configuration shown in FIG. 6, differences from FIG. 1 will be described.

[0090] In the medical image diagnostic system 10A shown in FIG. 6, instead of the camera 42, a camera 42A is arranged on the ceiling of the room where the gantry 20A is arranged. The camera 42A may be arranged at a position where it can photograph the bed 30 approaching the gantry 20A, and is not limited to the ceiling, and may be attached to the wall of the room or attached to a structure arranged in the room. The camera 42A is preferably arranged near directly above the docking unit 24. Other configurations may be the same as those of the medical image diagnostic system 10 according to the first embodiment.

[0091] [Modification Example 2] Instead of the camera 42 shown in FIG. 1, or in combination with the camera 42, sensors other than the camera may be used. As a sensor other than the camera, for example, a non-contact distance sensor typified by a laser distance sensor using a triangulation method can be used.

[0092] For example, a configuration may be adopted in which information indicating the distance between the gantry 20 and the bed 30 is obtained by a laser distance sensor, and when the bed 30 approaches the gantry 20 to a predetermined distance or less, guide information including the angle range within which docking is possible is displayed.

[0093] [Second Embodiment] In addition to the configuration of the medical imaging diagnosis system 10 or the medical imaging diagnosis system 10A, guide information for assisting docking operation may be displayed on the display device on the hospital bed 30 side.

[0094] FIG. 7 is a perspective view of the hospital bed 30B used in the second embodiment. Instead of the hospital bed 30 described in FIG. 1, the hospital bed 30B shown in FIG. 7 can be used. The hospital bed 30B includes an operation panel 39 including a display. The operation panel 39 is disposed, for example, on the handle portion 38 of the hospital bed 30B. The operation panel 39 may be configured to be removable from the handle portion 38 or may be a device such as a tablet terminal. The hospital bed 30B and the gantry 20 are configured to be able to exchange information by wireless communication such as Bluetooth (registered trademark).

[0095] The hospital bed 30 acquires the guide information generated by the processor 46 by wireless communication and displays the guide information on the operation panel 39. The content displayed on the operation panel 39 may be a copy of the display content of the display device 44 (gantry monitor) on the gantry 20 side, may be content processed for display on the operation panel 39, and may include displays other than the guide information. Other display contents on the operation panel 39 may include the distance to the gantry 20, the remaining battery level, and a display indicating "docking completed" at the time of docking completion.

[0096] FIG. 8 is a functional block diagram of the medical imaging diagnosis system 10B according to the second embodiment. For the configuration shown in FIG. 8, elements common to FIG. 2 are denoted by the same reference numerals, and redundant descriptions are omitted. The gantry 20 shown in FIG. 8 includes a communication module 66 for wireless communication in addition to the configuration described in FIG. 2, and the processor 46 functions as a communication control unit 68. The communication control unit 68 controls communication by the communication module 66. The communication control unit 68 performs control to transmit information necessary for guide display from the communication module 66 based on the processing result of the image processing unit 52.

[0097] The bed 30B includes an operation panel 39, a processor 70, a memory 72, and a communication module 74 for wireless communication. The processor 70 and the memory 72 may have the same configuration as the processor 46 and the memory 48. The memory 72 stores programs, data, etc. for causing the processor 70 to realize various functions. Part or all of the processor 70 and the memory 72 may be configured to be mounted on a control board within the bed 30B.

[0098] The processor 70 functions as a communication control unit 76 and a display control unit 78. The communication control unit 76 controls the communication by the communication module 74. Note that the communication modules 66, 74 may each include a signal processing circuit that undertakes part or all of the processing functions of the communication control units 68, 76.

[0099] The communication module 74 communicates with the communication module 66 according to a predetermined communication protocol, and acquires information necessary for guide display from the gantry 20.

[0100] The display control unit 78 controls the display of the operation panel 39. The display control unit 78 causes the operation panel 39 to display guide information based on the information acquired via the communication module 74.

[0101] 〈Example of additional configuration 2〉 When the bed 30B is configured to include electric assist casters, the processor 70 may control to turn off the electric assist function or reduce the output of the electric assist casters when the bed 30B approaches the docking unit 24. Thereby, it is possible to prevent the bed 30B from colliding forcefully with the docking unit 24.

[0102] 〔Advantages of the second embodiment〕 According to the second embodiment, similarly to the first embodiment, the burden on the operator of the bed 30B can be reduced. Further, according to the second embodiment, since the guide information is displayed on the operation panel 39 at the operator's hand when pushing the bed 30B, it is easy for the operator to visually recognize the guide information.

[0103] [Embodiment 3] FIG. 9 is a schematic side view showing the configuration of the bed 30C according to the third embodiment. Regarding the configuration shown in FIG. 9, the same reference numerals are given to the elements common to FIGS. 2 and 7, and redundant descriptions are omitted. In the third embodiment, an example in which the bed 30C is provided with a camera 42C instead of the camera 42 described with reference to FIG. 1 will be described.

[0104] The camera 42C is arranged, for example, at the front end of the bed 30C so that the docking portion 24 of the gantry 20A can be photographed. The number of cameras 42C arranged on the bed 30C is not limited to one, and may be a plurality. Note that the gantry 20A to which the bed 30C is connected may be configured not to have the camera 42 (see FIG. 6), and may also be configured not to include the communication module 66.

[0105] The bed 30C recognizes the docking portion 24 of the gantry 20A from the image photographed by the camera 42C, analyzes the position of the bed 30C with respect to the docking portion 24 by image analysis, and displays guide information on the operation panel 39 based on the grasped positional relationship.

[0106] FIG. 10 is a functional block diagram of the bed guidance system 40C incorporated in the bed 30C according to the third embodiment. In FIG. 10, the same or similar elements as those shown in FIG. 8 are given the same reference numerals, and redundant descriptions are omitted.

[0107] The bed guidance system 40C includes a camera 42C, a processor 70, a memory 72, and an operation panel 39. The operation panel 39 includes an operation unit 391 and a display 392. The operation unit 391 may be a touch panel integrated with the display 392. The operation unit 391 may include operation members such as physical operation buttons, input keys, and dials.

[0108] Processor 70 functions as an image acquisition unit 80, an image processing unit 82, an input processing unit 86, and a display control unit 78. The image acquisition unit 80 acquires an image captured by the camera 42C. The image processing unit 82 processes the image (camera image) obtained from the camera 42C. The image processing unit 82 includes a gantry docking unit recognition unit 90, a travel route calculation unit 92, and a guide information generation unit 94.

[0109] The gantry docking unit recognition unit 90 recognizes the docking unit 24 of the gantry 20A from the camera image and grasps the positional relationship between the docking unit 24 and the bed 30C. The gantry docking unit recognition unit 90 analyzes the camera image and grasps the position and orientation of the bed 30C with respect to the docking unit 24.

[0110] The gantry docking unit recognition unit 90 may be configured using a trained model trained to perform object detection using, for example, a machine learning algorithm, or may be configured to perform image recognition processing such as pattern matching.

[0111] Since the position of the camera 42C attached to the bed 30C is fixed and the positional relationship between the camera 42C and the docking unit 34 is also fixed, the gantry docking unit recognition unit 90 grasps the positional relationship between the docking unit 24 of the gantry 20A and the docking unit 34 of the bed 30. Information such as the relative position of the bed 30 with respect to the docking unit 24 of the gantry 20, the orientation of the bed 30, and the traveling direction is acquired by the gantry docking unit recognition unit 90.

[0112] The travel route calculation unit 92 and the guide information generation unit 94 may be configured to perform the same processing as the travel route calculation unit 62 and the guide information generation unit 64 described in FIG. 2. That is, the travel route calculation unit 92 calculates a desirable travel route of the bed 30 to connect the docking unit 34 of the bed 30 to the docking unit 24 of the gantry 20 from the positional relationship between the gantry 20 and the bed 30C grasped by the gantry docking unit recognition unit 90.

[0113] Based on the calculation result of the travel route calculation unit 92, the guide information generation unit 94 generates guide information for guiding the sleeping car 30C to the docking unit 24 of the gantry 20.

[0114] The input processing unit 86 receives a signal input via the operation unit 391 and performs processing according to the received signal. For example, the input processing unit 86 may receive a designation for enabling or disabling the guide display function from the operation unit 391 and control the processing of the image processing unit 82 according to the designated instruction.

[0115] The display control unit 78 generates a display signal necessary for display output to the display 392 and controls the display of the display 392. The display control unit 78 causes the operation panel 39 to display guide information based on the processing result of the image processing unit 82.

[0116] FIG. 11 is a flowchart showing an example of the operation of the sleeping car guidance system 40C according to the third embodiment. Step S20 is the same step as step S10 in FIG. 5.

[0117] In step S21, the processor 70 acquires an image captured by the camera 42C and recognizes the docking unit 24 of the gantry 20A from the camera image.

[0118] In step S22, the processor 70 grasps the positional relationship between the gantry 20A and the sleeping car 30C from the camera image and acquires distance information between the gantry 20A and the sleeping car 30C.

[0119] Steps S23 and S24 are the same steps as steps S13 and S14 in FIG. 5. In step S23, the processor 70 determines whether the distance between the gantry 20A and the sleeping car 30 has approached within a predetermined distance. The predetermined distance may be the distance set as the guide display start determination distance described in FIG. 3. Alternatively, the processor 70 may determine that it has approached within a predetermined distance when the docking unit 24 is recognized from the camera image. If the determination result in step S23 is a No determination, the processor 70 returns to step S22.

[0120] When the determination result in step S23 is a Yes determination, the processor 70 proceeds to step S24.

[0121] In step S24, the processor 70 generates guide information indicating a travel route for guiding the bed 30C to the docking position by performing image analysis on the camera image.

[0122] In step S25, the processor 70 causes the generated guide information to be displayed on the operation panel 39 of the bed 30C. As a result, the operator of the bed 30C can operate the bed 30C to the docking position according to the guidance of the guide information displayed on the operation panel 39.

[0123] Step S26 is the same step as step S16 in FIG. 5.

[0124] In step S27, the processor 70 determines whether the docking has been completed. When the determination result in step S27 is a No determination (docking not completed), the processor 70 returns to step S24.

[0125] When the determination result in step S27 is a Yes determination (docking completed), the processor 70 ends the guide display. Note that the processor 70 may notify the operator that the docking has been completed after the docking is completed.

[0126] 〔Advantages of the Third Embodiment〕 According to the third embodiment, similar to the second embodiment, the burden on the operator of the bed 30C can be reduced, and the operator can easily view the guide information by the guide display on the operation panel 39. Furthermore, according to the third embodiment, since the guide display is realized by the bed guidance system 40C mounted on the bed 30C, there is no need to make any particular changes to the device configuration on the gantry 20A side.

[0127] Moreover, according to the third embodiment, since the bed 30C is provided with the camera 42C, there is an advantage that obstacles can be detected during movement outside the examination room.

[0128] 〔Structure Example of Bed Equipped with Electric Assist Caster and Steering Caster〕 FIG. 12 is a perspective view showing a structural example of a bed 30D equipped with an electric assist caster 110 and a steering caster 120. In FIG. 12, the mechanical structure inside the bed covered by the bellows 35 and the cover 36 described in FIG. 1 is shown.

[0129] The bed 30D shown in FIG. 12 is provided with an electric assist caster 110 and a steering caster 120 in addition to the configuration described in FIG. 1. The electric assist caster 110 includes a motor (not shown) that applies power to move the bed 30D and is an electric wheel that provides driving assistance to the bed 30D. The electric assist caster 110 assists the force applied by a person to push the bed 30D and supplements the bed's travel, and may be configured not to achieve full self-driving by the power of the electric assist caster 110.

[0130] The steering caster 120 is a wheel (caster) used to change the traveling direction of the bed 30D, and the swinging direction of the wheel can be controlled by a motor 122. Based on the calculation result of the travel route calculation unit 92, the steering caster 120 is controlled so that the bed 30D faces the docking position.

[0131] Note that FIG. 12 shows an example of the bed 30D equipped with the electric assist caster 110 and the steering caster 120, but a form in which one of the configurations of the electric assist caster 110 and the steering caster 120 is omitted is also possible. For example, a form in which the electric assist caster 110 is provided without the steering caster 120 is also possible.

[0132] In any of the bed 30 in the above-described first embodiment, the bed 30B in the first modification, and the bed 30C in the second embodiment, a configuration including at least one of the electric assist casters 110 and the steering casters 120 can be applied.

[0133] FIG. 13 is a functional block diagram of a bed 30D in which a system similar to the bed guidance system 40C according to the third embodiment is implemented.

[0134] In FIG. 13, elements common to the configuration described in FIG. 10 are denoted by the same reference numerals, and redundant descriptions are omitted. The processor 70 functions as a caster control unit 130. The caster control unit 130 includes an electric assist caster control unit 132 and a steering caster control unit 134. The electric assist caster control unit 132 controls the motor 112 of the electric assist caster 110. The steering caster control unit 134 controls the motor 122 of the steering caster 120. Other configurations may be the same as those described in FIG. 10.

[0135] FIG. 14 is a flowchart showing an example 1 of the operation of the bed 30D equipped with the electric assist casters 110 and the steering casters 120. Steps S30 and S31 are the same steps as steps S20 and S21 in FIG. 11. Note that, by starting the docking operation in step S30, the bed 30D travels by the power of manual labor and the electric assist casters 110.

[0136] In step S32, the processor 70 calculates a travel route for guiding the bed 30D to the docking position by image analysis of the camera image.

[0137] In step S33, the processor 70 controls the steering caster 120 so that the bed 30D faces the target docking unit 24 based on the calculation result of the travel route.

[0138] In step S34, the processor 70 determines whether to perform a guide display on the operation panel 39. This determination may be to determine whether the distance between the hospital bed 30D and the gantry 20A is equal to or less than a predetermined distance, similar to step S23 in FIG. 11, or it may be to determine whether the guide display function is enabled / disabled.

[0139] If the determination result in step S34 is a No determination, the processor 70 proceeds to step S37.

[0140] In step S37, when the operator lightly applies a force in the traveling direction to push the hospital bed 30D, the hospital bed 30D travels semi-automatically to the docking position by the electric assist casters 110 and the steering casters 120.

[0141] If the determination result in step S34 is a Yes determination, the processor 70 proceeds to step S35. In step S35, the processor 70 generates guide information indicating a travel route for guiding the hospital bed 30D to the docking position based on the calculation result of step S32.

[0142] In step S36, the processor 70 causes the generated guide information to be displayed on the operation panel 39. As a result, in step S37, the operator of the hospital bed 30D can steer the hospital bed 30D to the docking position according to the guidance of the guide information displayed on the operation panel 39.

[0143] In step S38, the processor 70 determines whether docking has been completed. If the determination result in step S38 is a No determination (docking not completed), the processor 70 returns to step S32.

[0144] If the determination result in step S38 is a Yes determination (docking completed), the processor 70 ends the guide display and the driving of the electric assist casters 110.

[0145] FIG. 15 is a flowchart showing an example 2 of the operation of the hospital bed 30D including the electric assist caster 110 and the steering caster 120.

[0146] Regarding FIG. 15, the differences from FIG. 14 will be described. The flowchart of FIG. 15 includes step S39, step S40, step S41, and step S42 instead of step S37 and step S38 in FIG. 14.

[0147] In step S39, when the operator lightly applies a force in the traveling direction and pushes the hospital bed 30D, the hospital bed 30D travels semi-automatically toward the docking position by the electric assist caster 110 and the steering caster 120.

[0148] In step S40, the processor 70 determines whether the hospital bed 30D has approached within a predetermined distance from the docking position. The predetermined distance here may be set to a value different from the first distance set as the guide display start determination distance described in FIG. 3, or may be set to the same value. For example, the second distance serving as the determination criterion in step S40 may be set to a value smaller than the first distance.

[0149] When the determination result in step S40 is a No determination, the processor 70 returns to step S32. When the determination result in step S40 is a Yes determination, the processor 70 proceeds to step S41.

[0150] In step S41, the processor 70 performs control to stop the assist function of the electric assist caster 110 or reduce the output. Thereby, the assistance of the electric assist caster 110 is reduced before the hospital bed 30D contacts the docking unit 24, and the impact during docking is suppressed.

[0151] In step S42, the processor 70 determines whether the docking has been completed. When the determination result in step S42 is a No determination (docking not completed), the processor 70 returns to step S32.

[0152] When the determination result in step S42 is a Yes determination (docking completed), the processor 70 ends the guidance display. Also, when the assist function of the electric assist caster 110 was not stopped in step S41 (when it was operated with the output reduced), the processor 70 stops the electric assist caster 110 and ends the flowchart of FIG. 15.

[0153] 〔Regarding the hardware configuration of each processing unit〕 The hardware structure of the processing unit that executes various processes such as the image acquisition unit 50, image processing unit 52, bed recognition unit 60, travel route calculation unit 62, guidance information generation unit 64, display control unit 54, communication control unit 68 shown in FIG. 8, communication control unit 76, display control unit 78, image acquisition unit 80 shown in FIG. 10, image processing unit 82, input processing unit 86, gantry docking unit recognition unit 90, travel route calculation unit 92, guidance information generation unit 94, display control unit 54, caster control unit 130 shown in FIG. 13, electric assist caster control unit 132, and steering caster control unit 134 is, for example, various processors as shown below.

[0154] The various processors include a CPU, which is a general-purpose processor that executes programs and functions as various processing units, a programmable logic device (PLD), such as an FPGA (Field Programmable Gate Array), which is a processor whose circuit configuration can be changed after manufacturing, and an application-specific electric circuit, which is a processor having a circuit configuration designed specifically to execute specific processes, such as an ASIC (Application Specific Integrated Circuit).

[0155] One processing unit may be composed of one of these various processors, or may be composed of two or more processors of the same type or different types. For example, one processing unit may be composed of a plurality of FPGAs, or a combination of a CPU and an FPGA, or a combination of a CPU and a GPU. Also, a plurality of processing units may be composed of one processor. As an example of configuring a plurality of processing units with one processor, first, as represented by a computer such as a client or a server, one processor is configured by a combination of one or more CPUs and software, and this processor functions as a plurality of processing units. Second, as represented by a System On Chip (SoC), there is a form in which a processor that realizes the functions of the entire system including a plurality of processing units with one IC (Integrated Circuit) chip is used. Thus, various processing units are configured as a hardware structure using one or more of the above various processors.

[0156] Furthermore, the hardware structure of these various processors is more specifically an electrical circuit (circuitry) formed by combining circuit elements such as semiconductor elements.

[0157] [Regarding the program for operating the computer] A program that causes a computer to realize part or all of the processing functions of the processors 46 and 70 according to the above-described embodiments can be recorded on a computer-readable medium, which is a non-transitory tangible information storage medium such as an optical disk, a magnetic disk, or a semiconductor memory, and the program can be provided through this information storage medium.

[0158] Instead of the mode of storing and providing the program on such a non-transitory tangible computer-readable medium, it is also possible to provide the program signal as a download service using a telecommunication line such as the Internet.

[0159] Furthermore, part or all of the processing functions of the processors 46 and 70 may be realized by cloud computing and can also be provided as SaaS (Software as a Service).

[0160] 〔Other application examples〕 The technology of the present disclosure can be applied to medical devices to which a dockable bed is connected and / or the bed, regardless of the type of medical device. The medical device is not limited to a device that captures a medical image, and may be a measuring device that does not have an imaging function, or a treatment device such as a surgical support robot.

[0161] 〔Modification example of the display device〕 The form of the display device that displays the guide information is not limited to the examples of the gantry monitor (display device 44) and the operation panel 39 described above, and there can be various forms. For example, the display device that displays the guide information may be a stationary display arranged in the room where the medical device is placed, or a wearable display worn by the operator of the bed. Further, the display device may be a projector. A plurality of display devices of the same type or different types may be used in combination.

[0162] 〔Others〕 The technical scope of the present invention is not limited to the scope described in the above embodiments. The configurations in each embodiment and the configurations in the modification examples can be appropriately combined among the embodiments without departing from the gist of the present invention.

Explanation of reference numerals

[0163] 10, 10A, 10B Medical image diagnosis system 20, 20A Gantry 21 Gantry cover 22 Imaging space 24 Docking part 30, 30B, 30C, 30D Bed 31 Top plate 32 Top plate holding part 33 Wheels 34 Docking part 35 Snake belly 36 Cover 38 Handle part 39 Operation panel 40, 40C Bed guidance system 42, 42A, 42C Camera 44 Display device 46 Processor 48 Memory 50 Image acquisition unit 52 Image processing unit 54 Display control unit 60 Bed recognition unit 62 Travel route calculation unit 64 Guide information generation unit 66, 74 Communication module 68, 76 Communication control unit 70 Processor 72 Memory 78 Display control unit 80 Image acquisition unit 82 Image processing unit 86 Input processing unit 90 Gantry docking unit recognition unit 92 Travel route calculation unit 94 Guide information generation unit 110 Electric assist caster 112, 122 Motor 120 Steering caster 130 Caster control unit 132 Electric assist caster control unit 134 Steering caster control unit 391 Operation unit 392 Display AR1, AR2 Arrow LN Line S10~S17 Steps of the operation of the bed guidance system according to the first embodiment S20~S27 Steps of the operation of the bed guidance system according to the third embodiment S30~S42 Steps of the operation of the bed equipped with an electric assist caster and a steering caster

Claims

1. one or more sensors for obtaining information regarding a positional relationship between a medical device having a docking section to which the bed is connected and the bed; one or more processors that execute a process of displaying guide information for guiding the bed to the docking unit based on the information obtained from the one or more sensors; one or more display devices for displaying the guide information; a sleeper guidance system.

2. The medical device is a gantry of a medical imaging device that captures medical images of a subject. The couch guidance system of claim 1 .

3. the one or more sensors are disposed on at least one of the medical device and the bed; The couch guidance system of claim 1 .

4. the one or more sensors are disposed on at least one of a ceiling and a wall of a room in which the medical device is disposed; The couch guidance system of claim 1 .

5. the one or more sensors include a camera; The couch guidance system of claim 1 .

6. The one or more processors: By analyzing the image obtained from the camera, the positional relationship between the medical device and the bed is grasped.

6. The bed guidance system of claim 5.

7. The one or more display devices are disposed on at least one of the medical device and the bed. The couch guidance system of claim 1 .

8. The one or more processors: generating the guide information based on the information obtained from the one or more sensors; The couch guidance system of claim 1 .

9. The bed guidance system according to claim 1 , wherein the guide information includes information indicating a travel route for guiding the bed to the docking unit.

10. The guide information includes information indicating an angle range in which the bed can be docked with respect to the docking unit. The couch guidance system of claim 1 .

11. the information on the positional relationship includes distance information between the medical device and the bed; The couch guidance system of claim 1 .

12. The one or more processors: displaying the guide information on the one or more display devices when a distance between the medical device and the bed becomes equal to or shorter than a first distance; The couch guidance system of claim 1 .

13. The one or more processors: When display of the guide information on the one or more display devices is started, the display of the guide information is maintained until docking is completed.

13. The sleeper guidance system of claim 12.

14. The one or more processors: When the bed is undocking to separate it from the medical device, the guide information is hidden, and a guide display function is enabled after a predetermined time has elapsed after undocking. The couch guidance system of claim 1 .

15. The bed includes electric assist casters that provide a driving assist force to the bed, The one or more processors: When the distance between the medical device and the bed becomes equal to or shorter than a second distance, a control is performed to reduce the traveling assistance force of the electric assist caster. The couch guidance system of claim 1 .

16. The bed includes steering casters for changing the direction of travel of the bed, the one or more processors control the steering casters to steer the bed toward the docking area based on the information obtained from the one or more sensors. The couch guidance system of claim 1 .

17. A docking section to which the berths are connected; one or more sensors that provide information regarding a positional relationship with the bed; one or more processors that execute a process of displaying guide information for guiding the bed to the docking unit based on the information obtained from the one or more sensors; one or more display devices for displaying the guide information; 23. A medical device comprising:

18. A bed that is detachable from a docking unit provided in a medical device, one or more sensors that provide information regarding a positional relationship between the medical device and the bed; one or more processors that execute a process of displaying guide information for guiding the bed to the docking unit based on the information obtained from the one or more sensors; one or more display devices for displaying the guide information; Including berth.

19. a gantry having a docking section to which the bed is connected; The bed is detachable from the docking unit; one or more sensors that provide information regarding a positional relationship between the gantry and the couch; one or more processors that execute a process of displaying guide information for guiding the bed to the docking unit based on the information obtained from the one or more sensors; one or more display devices for displaying the guide information; A medical imaging diagnostic system comprising:

Images