Safety system for detecting errors on medical tables

Abstract

1. A system for detecting errors in sensors of an operating table and / or errors in determining a load or a load center, comprising: an operating table having an adjustable patient support surface for supporting a patient; a load sensor device having several load sensors emitting sensor values; a load determination unit for determining at least one of the following first sizes using the sensor values: load, load center, velocity of the load center and acceleration of the load center, wherein the load is the load acting on the load sensor device or the load acting on the operating table or the total load on the operating table; a calculation unit for predicting or calculating at least one expected second size; and an error recognition unit for comparing the sensor values ​​or the at least one first size with the at least one second size and detecting an error and / or a possible error if a deviation exceeds a predetermined value.

Description

[Technical field]

[0001] This application claims the priority of German patent application No. 102022110888.0, filed with the German Patent and Trademark Office on May 3, 2022. The disclosure content of German patent application No. 102022110888.0 is incorporated herein by reference.

[0002] Technical Field The present disclosure relates to medical and surgical tables in which the table top and / or segments of the table top are movable. In particular, the invention relates to a system capable of detecting errors that may occur in the medical table. The errors may be, for example, errors of sensors integrated in the table or errors occurring during the determination of the load or the load center. [Background technology]

[0003] Background of the disclosure Operating tables serve, for example, to support a patient during a surgical intervention. Currently, nurses and doctors must take into account many important aspects to be able to use them correctly, due to the flexibility in setting up the operating table, the number of accessories, and the different possibilities for positioning the patient that the operating table offers. Some of these aspects are listed below:

[0004] -The equipment used should be adapted to the patient's weight. -The device configuration should also be adapted to the patient's weight.

[0005] - The patient support surface on which the patient sits should only displace within permissible limits. - Where restrictions on movement are applied, permissible limits must never be exceeded.

[0006] When adjusting the operating table, it is necessary to ensure that the operating table does not collide with external objects, e.g. the C-arm.

[0007] -In addition, when adjusting the operating table, it is necessary to ensure that the patient is properly secured and does not fall or slip off the table.

[0008] Important information on the above points can be found in the user manual of the operating table. If the user ignores the user manual or does not pay sufficient attention to collisions and patients, the following dangerous events may occur:

[0009] - Tilt of the operating table: Patient falling which can lead to lasting injury or even death. - Overloading of accessories and structural parts of the operating table: This can result in the structural parts being permanently bent or broken, or even causing permanent injury or death to the patient.

[0010] - Overload of motorized joints: The operating table cannot move, limiting mobility. Collision of the operating table with external objects: During movements the operating table may collide and damage expensive equipment, e.g. the C-arm.

[0011] -Patient falls: If the patient is not secured adequately, he may start to slip during the movement of the table and in the worst case scenario, he may fall to the ground.

[0012] The patient support surface of the operating table can have interchangeable and detachably connectable segments. In many cases, some or all of the interchangeable segments are movable. With the use of different interchangeable segments, a single operating table can be reconfigured in different ways for different patients and medical procedures. Furthermore, the individual segments or the entire patient support surface can be adjusted in different ways. For example, the individual segments or the entire patient support surface can be inclined or tilted or displaced longitudinally or laterally. However, this means that the size, shape, dimensions, weight and strength of the individual operating tables will be different at different times. In order to be able to prevent tilting of the operating table or overloading of the individual structural parts or the entire operating table, it should be known in which position the patient support surface and its segments are, which loads act on the patient support surface or the entire operating table and where the center of this load is. For this purpose, the operating table can have different sensors, for example, which measure the forces acting on the operating table or determine at what angle the patient support surface is inclined or tilted or at what distance the patient support surface has been deployed. Such sensors must be fail-safe, otherwise patient safety cannot be guaranteed. If a sensor fails and delivers incorrect information, the system should be made aware of this. Furthermore, the user should be warned that certain systems cannot be trusted and that the table is in a safety-critical state. Furthermore, certain functions of the table may be blocked and table movement may slow down or stop completely.

[0013] The solution to the described problem is to use a second set of redundant sensors. If one of the sensors fails, the second redundant sensor will notice this. However, redundant sensors are very expensive and often cannot be used on the operating table due to insufficient installation space.

[0014] Document S11058325B2 discloses a patient support apparatus having a patient support surface, a primary sensor, several secondary sensors, a primary control device, and a secondary control device. The primary sensor is a load sensor that measures the force applied to a component of the patient support surface. The primary control device receives the force measurements from the primary sensor. The secondary sensor measures several secondary parameters that may affect the force measurements performed by the primary sensor. The secondary sensor may include a humidity sensor, a pressure sensor, a gyroscope, a magnetometer, an accelerometer, a speed sensor, a temperature sensor, or an angle sensor. The secondary control processes the output of the secondary sensor to recognize whether the force applied to the component of the patient support apparatus is outside a range of force values. US11058325 does not disclose an operating table system as disclosed herein, in which the load acting on the load sensor device or the patient support surface, the load center, the velocity of the load center, or the acceleration of the load center are determined as a first size, and another expected second size is predicted or calculated, and an error is detected if the two sizes are too different.

[0015] US 7,472,439 discloses a patient bed that can be used in a hospital. A diagnostic and control system can monitor or request the function or status of electronic elements, such as load sensors. The diagnostic and control system can monitor the current state of the operating parameters of these electronic elements and compare the collected data to a set of standard operating characteristics. In this way, a possible error can be recognized when a particular electronic element is not operating within a desired and / or predetermined range. US 7,472,439 does not disclose that the expected size that is compared to the operating parameters is calculated from the operating parameters of the electronic elements.

[0016] WO2017003766 describes a person support apparatus. In this apparatus, the load sensor is integrated and connected to a detection circuit. With the help of the detection circuit, it can be determined whether the load sensor is operating incorrectly. Two load sensors can be provided, which are respectively coupled to the start-up lines. The start-up voltage source charges the two start-up lines with a constant voltage. In one embodiment, the control unit monitors the total amount of current flowing from the start-up voltage source to the start-up lines. The control unit determines that one of the load sensors is in an error state if the total amount of current flowing from the start-up voltage source to the start-up lines is outside a predetermined range. WO2017003766 does not disclose that a further expected size is calculated from the load or load center determined using the load sensor, and an error is determined if the deviation of the calculated expected size from the determined load or load center is too large. Summary of the Invention [Problem to be solved by the invention]

[0017] Disclosure Summary It is an object of the present disclosure to provide a system advantageously designed to detect faulty sensors on a surgical table.

[0018] Additionally or alternatively, the system should be embodied to detect possible errors when the load or load center of the operating table is determined. [Means for solving the problem]

[0019] According to a first aspect of the present disclosure, there is provided a system adapted to detect a fault sensor of a surgical table and / or detect an error when a load or a load center is determined. The system may comprise a surgical table having an adjustable patient support surface, a load sensor device having a number of load sensors, a calculation unit, and an error recognition unit.

[0020] The patient support surface of an operating table serves to support a patient, for example during a surgical intervention. The patient support surface can be modularly formed and can have a main support surface portion that can be extended by coupling various support surface sub-portions. For this purpose, the main support surface portion and the support surface sub-portions can have mechanical connection elements that can detachably connect the main support surface portion and the sub-portions. The support surface sub-portions can be, for example, the foot portion or the head portion. Furthermore, the support surface sub-portions can be, for example, extensions or intermediate portions that are inserted between the main support surface portion and the head portion.

[0021] The load sensors can issue sensor values ​​from which the load acting on the load sensor device and also on the patient support surface can be determined. The load acting on the load sensor device can in particular include all external force sizes, i.e. forces and torques, acting on the load sensor device. The load sensors can for example be force sensors, in particular weighing cells, which respectively measure the forces acting on the respective sensors. The force sensors can issue respective electrical signals, for example voltages, as output signals from which the respective measured forces can be derived. Furthermore, it is also possible for the force sensors to issue respective specific sizes of the respective forces measured by them as sensor values, for example in digital form.

[0022] It is further contemplated that the load sensor arrangement determines a total resultant force from the sensor values ​​of the individual load sensors, the total resultant force resulting from the individual forces acting on the different force sensors.

[0023] Loads acting on the load sensor device include, for example, loads caused by components located above the load sensor device and loads caused by a patient supported on the operating table or other object located on the operating table. People may also apply load to the operating table, for example, by standing next to the operating table and supporting themselves with their hands or other body parts on the operating table. Furthermore, external forces generated in other ways may generate loads on the operating table. Such loads can also be measured by the load sensor device.

[0024] The load sensor device can be located at different positions on the operating table. For example, the load sensor device can be integrated into the support column of the operating table. Furthermore, the load sensor device can be located on or adjacent to an interface that the support column forms with the patient support surface or the foot (e.g., base). Thus, the load sensor device can be located, for example, between the patient support surface and the support column. Alternatively, the load sensor device can be located, for example, between the support column and the foot.

[0025] The load sensor device can be integrated into the operating table such that the entire load flows through or is transferred by the load sensor device, in particular, the load generated above the load sensor device can flow through or be transferred by the load sensor device.

[0026] The load determination unit is coupled to the load sensor device and is able to obtain a sensor value issued by the load sensor. This sensor value allows the load determination unit to determine at least one first size, i.e. exactly one or several first sizes. The first size can be a load, a load center, a velocity of the load center or an acceleration of the load center. The load can be a load acting on the load sensor device or a load acting on the operating table or a total load of the operating table.

[0027] The load acting on the load sensor device can also be called the measurement load. The measurement load corresponds to the load generated by all people, objects and forces on the operating table above the load sensor. The measurement load corresponds to the load value measured by the load sensor device.

[0028] The loads acting on the operating table can be referred to as active loads and correspond to the loads acting on the operating table caused by components not assigned to the operating table, people and external forces. The components assigned to the operating table are those components that are recognized by the operating table by a detection system, for example a support surface part or segment and / or other accessory parts. The active loads do not take into account the influence of the components assigned to the operating table. Only other components of the operating table, i.e. components not assigned to the operating table, contribute to the active loads. These can be, for example, accessory parts not recognized by the operating table or other objects placed on the operating table. Also, the patient located on the operating table contributes to the active loads. Furthermore, all forces acting externally on the operating table, for example applied to the operating table by people and / or objects outside the operating table, contribute to the active loads.

[0029] The total load of the operating table is the load resulting from the measured load and from the load caused by the components that are assigned to the operating table and are below the load sensor device. The total load therefore takes into account the load from the components that are located below the load sensor device and cannot be measured by the load sensor device and therefore do not contribute to the measured load. The total load is therefore the load resulting from the entire operating table, the patient, the components assigned to the operating table, the components not assigned to the operating table, and other external forces.

[0030] In conclusion, the at least one first size determined by the load determining unit can be selected from the following sizes:

[0031] -Measurement load, measurement load center, velocity of measurement load center, and acceleration of measurement load center; -active load, active load center, velocity of the active load center, and acceleration of the active load center; and -Total load, total load center, velocity of total load center, and acceleration of total load center; The computation unit may calculate or predict the at least one expected second size. The at least one expected second size may be an estimated and / or predicted size and may be a time-dependent or time-independent expected value. For example, the at least one expected second size may be calculated directly from the at least one first size, or the at least one first size may first undergo a further progression and the at least one expected second size may be calculated from the result of the further progression. It may be provided that the at least one expected second size is calculated or predicted after the at least one first size. However, the at least one expected second size may also be calculated or predicted before the at least one first size. The terms "first size" and "second size" only serve to distinguish between the two sizes. It does not indicate which of the two sizes is calculated, determined or predicted first.

[0032] In some designs, the computation unit may only predict the at least one expected second size, but may not specifically calculate it. In some designs, the computation unit may only calculate the at least one expected second size, but may not specifically predict it.

[0033] The error recognition unit can compare the values ​​determined by the load sensor device or the load determination unit with the expected values ​​determined by the calculation unit. To this end, the error recognition unit can compare the sensor values ​​or the at least one first size determined by the load determination unit with at least one expected second size. The at least one first size included in this comparison can be the at least one first size from which the at least one expected second size is calculated. However, a first size determined by the load determination unit at another point in time, in particular at a later point in time, can also be used, for example, for the comparison with the at least one expected second size.

[0034] If the comparison reveals that the deviation of the at least one expected second size from the sensor value or the at least one first size exceeds a predetermined value, i.e. the difference between the at least one expected second size and the sensor value or the at least one first size is greater than a predetermined value, the error recognition unit can determine that an error and / or a possible error exists. The error can be a faulty sensor, i.e. a sensor not working correctly, or an error occurring when the load or the load center is determined.

[0035] The error recognition unit allows the user of the operating table to be alerted when entering a safety critical state in order to ensure patient safety, and furthermore measures can be taken to avoid or prevent the safety critical state.

[0036] The system described here does not require a complete set of additional sensors for detecting errors, nor necessarily additional hardware units. Both the calculation and the error recognition unit can be implemented as software functions. However, it is also conceivable that the calculation and / or the error recognition unit are embodied as hardware units.

[0037] Furthermore, the calculation unit and / or the error recognition unit may be integrated into the operating table or may be located outside the operating table, one or both units may for example be integrated into a calculation unit that is external to the operating table and connected to the operating table, for example wirelessly or via a hardwired connection.

[0038] According to a second aspect of the present disclosure, the calculation unit can predict a load center that changes due to the adjustment as at least one second size when the patient support surface is adjusted. Further, the load determination unit can determine the load center after adjusting the patient support surface with the sensor value. The load center determined by the load determination unit after adjusting the patient support surface can be used by the error recognition unit as at least one first size.

[0039] The error recognition unit can compare the center predicted by the calculation unit with the center determined by the load determination unit after adjusting the patient support surface. The error recognition unit can detect an error and / or a possible error if the deviation of the center predicted by the calculation unit from the center determined by the load determination unit exceeds a predefined value. As explained above, the error can be a faulty sensor, i.e. a sensor not working properly, or an error occurring when the load or load center is determined.

[0040] The design requires that the patient support surface be adjusted, and only then can errors be detected. The patient support surface can be adjusted, for example, by tilting or tilting the patient support surface, or by displacing it longitudinally or laterally. The tilt of the patient support surface is also called Trendelenburg tendency, where the patient is supported so that the patient's head is down and the patient's pelvis is further up. Anti-Trendelenburg tendency is when the patient's head is in a higher position and the pelvis is further down. Tilt means that the patient support surface is trending to the side. During a longitudinal shift, the patient support surface is displaced along its longitudinal axis, while during a lateral shift, the patient support surface is displaced perpendicular to its main axis.

[0041] It may further comprise an optional state estimation unit for determining an actual centre of the load using the centre predicted by the calculation unit and the centre determined by the load determination unit.

[0042] In some designs, the inputs in the state estimation unit, i.e., the center predicted by the calculation unit and the center determined by the load determination unit, can be weighted. For example, the center predicted by the calculation unit and the center determined by the load determination unit can be formed by equally dividing the load center estimated by the state estimation unit by 50% each. Other ratios between the center predicted by the calculation unit and the center determined by the load determination unit can also be selected. For example, it can be specified that the estimated load center corresponds to 100% of the center determined by the load determination unit. In this case, the prediction made by the calculation unit does not affect the estimated actual load center.

[0043] The state estimation unit can be a pure software function, but can also be embodied as a hardware unit, for example integrated in the operating table or external to the operating table, or integrated in the above mentioned computation unit.

[0044] The state estimation unit may comprise a Kalman filter for estimating the actual load center. In particular, the Kalman filter may be an extended Kalman filter or an unscented Kalman filter.

[0045] The calculation unit, the load determination unit and the state estimation unit can operate iteratively. The state estimation unit estimates an actual load center at time t, and the calculation unit predicts a load center at time t+1 using the actual load center at time t estimated by the state estimation unit. Furthermore, the load determination unit determines a load center at time t+1. Then, the state estimation unit estimates an actual load center at time t+1 using the load center at time t+1 predicted by the calculation unit and the load center at time t+1 determined by the load determination unit.

[0046] Similarly, the iterative method can proceed by the calculation unit predicting the load center at time t+2 using the actual load center at time t+1 estimated by the state estimation unit, and then the state estimation unit estimating the actual load center at time t+2 using the load center at time t+2 predicted by the calculation unit and the load center at time t+2 determined by the load determination unit.

[0047] A number of iterations are performed, and if the error recognition unit determines that in at least N iterations the center predicted by the calculation unit and the center determined by the weight determination unit differ by more than a predefined deviation, the error recognition unit can detect an error and / or a possible error, where N can be a predefined number.

[0048] Alternatively, the error recognition unit may detect an error and / or a possible error if the center predicted by the calculation unit and the center determined by the weight determination unit exceed a predetermined deviation in at least one of the iterations. Thus, in this design, an error is determined as soon as the error recognition unit determines for the first time that the center predicted by the calculation unit and the center determined by the weight determination unit differ by more than a predetermined deviation.

[0049] A third aspect of the present disclosure provides a system that is the same or similar to the system according to the second aspect in many aspects. The difference between the two systems is that the system according to the third aspect uses the velocity or acceleration of the load center instead of the position of the load center. When the patient support surface is adjusted, the calculation unit can predict the velocity or acceleration of the load center as at least one second size. The load determination unit can determine at least the velocity or acceleration of the load center as at least one first size using the sensor value after adjusting the patient support surface. The error recognition unit can compare the velocity or acceleration of the load center predicted by the calculation unit with the velocity or acceleration of the load center determined by the load determination unit, and detect an error and / or a possible error if the deviation exceeds a predetermined value.

[0050] According to a fourth aspect of the present disclosure, the load determination unit can determine a load and / or a load center using the sensor values. The load and / or the load center determined by the load determination unit is a first size. The calculation unit can calculate a theoretical sensor value resulting in a second size. The theoretical sensor value can be calculated from one or more of the parameters, such as, for example, the load, the coordinates of the load center, the sensor values, and / or one or more distances of the load sensors relative to each other. The theoretical sensor value is a sensor value that should be issued by the load sensor at the load determined by the load determination unit and / or the determined load center. The error recognition unit can compare the sensor value issued by the load sensor with the theoretical sensor value calculated by the calculation unit. If the deviation between the sensor value issued by the load sensor and the theoretical sensor value calculated by the calculation unit exceeds a predefined value, the error recognition unit can detect an error and / or a possible error. The error can in particular be an error in at least one of the load sensors.

[0051] Advantageously, the error recognition unit is able to detect errors and / or possible errors even when the patient support surface is not adjusted, i.e. when the patient support surface is in a stationary state.

[0052] A certain number of load sensors are required to be able to determine the load and the load center. If the load and the load center are to be determined in only one direction, the x direction, for example, only two load sensors are required. If measurements are made in two directions, the x direction and the y direction, three load sensors are required for the static determination. In one design, the load sensor device can have at least one more load sensor than is required for the static determination. If two load sensors are sufficient for the static determination, the load sensor device can have at least three load sensors. If three load sensors are required for the static determination, the load sensor device can have at least four load sensors.

[0053] At least one additional load sensor allows a degree of redundancy. Mathematically, there are an infinite number of combinations of three or four forces measured by the load sensors that result in exactly the same load and the same load center. However, according to the rules of the solution of a statically balanced system, there is only one correct combination of the three or four measured forces that results in a specific load and a specific load center. If one of the load sensors is damaged, it is statistically impossible for this load sensor to randomly take the correct value that would create a balanced system. The prohibition of system balancing is therefore characterized by a comparison of the measurements of the three or four load sensors with the theoretical values ​​that the load sensors would measure for the determined load center and load. If the imbalance exceeds a certain threshold, at least one of the load sensors is not working properly.

[0054] In some designs, several load sensors may be arranged in a single common plane. In some designs, the load sensors may be arranged symmetrically.

[0055] In one design, the load sensors of the load sensor device can be arranged parallel to each other, mirror-inverted. For example, the load sensor device can have a total of four load sensors or weighing cells. This design has the advantage of increased accuracy and reliability.

[0056] Some or all of the load sensors of the load sensor device may be arranged mirror-symmetrically with respect to a first imaginary axis and mirror-symmetrically with respect to a second imaginary axis. The first and second axes may be aligned orthogonally to each other. For example, the first axis may extend parallel to a main axis of the patient support surface and the second axis extends perpendicular to the main axis but parallel to the patient support surface. The load sensor device may be arranged between the patient support surface and the operating table column.

[0057] In some designs, the load sensors are arranged in a grid pattern or lattice with multiple load sensors on each "side". In some embodiments, all of the load sensors are arranged in a common plane. For example, the load sensors may be arranged in a 2x2 grid. The load sensors may be arranged in a grid with, for example, 2-4 load sensors in each dimension.

[0058] The mirror-symmetrically arranged load sensors may be aligned in the same direction. In particular, the mirror-symmetrically arranged load sensors may be aligned parallel to one another. The load sensors may each have a main axis, the main axes being arranged parallel to one another.

[0059] The load sensors of the load sensor arrangement may be structurally identical. In some embodiments, the load sensor has an elongated shape. For example, the load sensor can be a rectangular body.

[0060] According to a fifth aspect of the present disclosure, the error recognition unit may detect a possible error in at least one of the load sensors when the load determined by the load determination unit is negative.

[0061] If all the load sensors are working properly, the measured load, and therefore the measured weight, should be positive. However, if the measured load is negative, either the operating table is colliding with an obstacle or the load sensors are not working properly. A negative force threshold can be used to determine if the load sensors are working properly.

[0062] According to a sixth aspect of the present disclosure, the error recognition unit can detect an error and / or a possible error in at least one of the load sensors when the load determined by the load determination unit exceeds a predetermined value and / or when the load center determined by the load determination unit is outside a predetermined space.

[0063] The operating table is provided for operation under specific conditions. An unusual load value, i.e. a load value of 1000 kg, therefore indicates that the load sensor is not working correctly. The same applies to the determined load center. If the x-, y- or z-component of the center is abnormally high, for example if the x-coordinate of the center has a value of 5.32 m, this indicates that the load sensor is not working reliably. The error recognition unit can be set with threshold values ​​to control whether the measured loads and load centers are valid or not.

[0064] According to a seventh aspect of the present disclosure, the error recognition unit can detect an error and / or a possible error in one of the load sensors when the sensor value of the load sensor does not change but the sensor value of the other load sensor changes, or when the sensor value of the load sensor changes but the sensor value of the other load sensor does not change.

[0065] Generally, the load sensors recognize even the smallest changes in load. In most cases where a change in load or center occurs, for example due to longitudinal movement of the patient, the values ​​of all load sensors change. If the value of one load sensor does not change, this is an indication that the load sensor is bad.

[0066] The reverse is also true: if only one of the load sensors changes its value while all other load sensors' values ​​remain unchanged, this is an indication that the one load sensor whose value is changing is bad.

[0067] According to an eighth aspect of the present disclosure, the error recognition unit is adapted to recognize the load F determined by the load determination unit in case of a tilt and / or inclination of the patient support surface. 測定 If V does not comply with equation (1) below, an error and / or a possible error in one of the load sensors can be detected.

[0068]

number

[0069] In the formula, F 荷重 is the load acting on the patient support surface, α is the inclination and / or tilt angle of the patient support surface, and F dl is the tare load that includes the portion of the operating table and all loads above the load sensor. The inclination and / or tilt angle α is the weight force F 荷重 and the measured force F 測定 is the angle formed by the vector of the force F 測定 propagates perpendicular to the major plane of the patient support surface. Equation (1) is only valid if the force sensor is tilted or inclined with the patient support surface. For example, if the load sensor is attached to the foot of an operating table, equation (1) does not apply.

[0070] If the patient support surface is tilted in any direction, the measured weight appears lower to the load sensor because the gravity sensor no longer acts perpendicular to the load sensor. Therefore, the error recognition unit determines whether the patient support surface is tilted in any direction and the load F determined by the load determination unit is lower than the load F determined by the load determination unit. 測定 If does not correspond to equation (1), a malfunction of the load sensor can be determined.

[0071] As already mentioned above, adjustment of the patient support surface may include one or more of the following actions: inclination of the patient support surface, inclination of the patient support surface, longitudinal displacement of the patient support surface, lateral displacement of the patient support surface, and lateral displacement of the patient support surface.

[0072] The error recognition unit can detect errors in the load sensor as well as errors and / or possible errors in other sensors employed in the operating table. In some embodiments, the error recognition unit can detect sensor errors in one or more of the following sensors: the load sensor, the sensor for detecting the inclination of the patient support surface, the sensor for detecting the inclination of the patient support surface, the sensor for detecting the longitudinal displacement of the patient support surface, the sensor for detecting the lateral displacement of the patient support surface, and the column lift sensor.

[0073] The error recognition unit is not able to detect errors in the column lift sensors that measure the lateral displacement of the patient support surface in all systems. In some systems the column lift sensors can be used to determine the trend and / or tilt angle. It can conclude from a bad trend and / or tilt angle that at least one column lift sensor may be faulty.

[0074] If the error recognition unit detects an error, it can generate an error signal indicating that the operating table is in a safety critical condition.

[0075] Further, an acoustic and / or optical warning signal can be generated. Further, a textual warning signal can be created, which can be displayed to the user, for example, on a remote control of the operating table. Also, the movement of the operating table can be restricted, for example, the deployment and / or tilting and / or tilting of the patient support surface and / or the manner of the operating table can be slowed or stopped. Further, at least one function of the operating table can be blocked.

[0076] If the error recognition unit again determines that the operating table is in a safe state, the measures taken can be reduced or cancelled.

[0077] According to a ninth aspect of the present disclosure, a method for detecting errors in sensors of an operating table and / or errors in determining a load or load center is provided. The operating table comprises an adjustable patient support surface for supporting a patient and a load sensor device having several load sensors that issue sensor values. The sensor values ​​can be used to determine at least one of the following first sizes: load, load center, velocity of the load center, and acceleration of the load center. The load can be a load acting on the load sensor device, or a load acting on the operating table, or a total load of the operating table. The at least one first size can be used to calculate at least one expected second size. The sensor values ​​or the at least one first size can be compared with the at least one expected second size. If a deviation of the sensor values ​​or the at least one first size from the at least one expected second size exceeds a predetermined value, an error can be detected.

[0078] The method according to the ninth aspect may have any design as described in this disclosure in connection with the systems according to the first to eighth aspects.

[0079] The present disclosure also includes circuitry and / or electronic instructions for controlling the surgical table, as well as a remote control, display and user interface for use with the surgical table.

[0080] BRIEF DESCRIPTION OF THE DRAWINGS Exemplary embodiments of the present disclosure are explained in more detail below with the aid of the drawings. [Brief description of the drawings]

[0081] [Figure 1] FIG. 1 is a schematic side view of a surgical table with a patient positioned on the patient support surface of the surgical table. [Diagram 2] 1 is a schematic diagram of a system architecture of an operating table system according to the present disclosure, comprising a load sensor device, a load determination unit, a calculation unit, and an error recognition unit; [Diagram 3]FIG. 1 is a schematic diagram of a surgical table according to the present disclosure to illustrate measured, active and total loads. [Figure 4A] 1A-1C are schematic diagrams of different embodiments of a surgical table according to the present disclosure having load sensor devices in different positions; [Figure 4B] 1A-1C are schematic diagrams of different embodiments of a surgical table according to the present disclosure having load sensor devices in different positions; [Figure 4C] 1A-1C are schematic diagrams of different embodiments of a surgical table according to the present disclosure having load sensor devices in different positions; [Figure 5A] 1A-1C are schematic diagrams of different embodiments of a surgical table according to the present disclosure having force sensors arranged in parallel and mirror symmetry; [Figure 5B] 1A-1C are schematic diagrams of different embodiments of a surgical table according to the present disclosure having force sensors arranged in parallel and mirror symmetry; [Figure 5C] 1A-1C are schematic diagrams of different embodiments of a surgical table according to the present disclosure having force sensors arranged in parallel and mirror symmetry; [Figure 5D] 1A-1C are schematic diagrams of different embodiments of a surgical table according to the present disclosure having force sensors arranged in parallel and mirror symmetry; [Figure 6A] 4 is a schematic diagram for explaining a force acting on a force sensor. FIG. [Figure 6B] 4 is a schematic diagram for explaining a force acting on a force sensor. FIG. [Figure 7A] FIG. 11 is a schematic diagram for explaining reduction in lateral force by symmetrical arrangement of force sensors. [Figure 7B] FIG. 11 is a schematic diagram for explaining reduction in lateral force by symmetrical arrangement of force sensors. [Figure 8] FIG. 1 is a schematic diagram illustrating determination of the gravity vector using an inclined patient support surface. [Figure 9] FIG. 1 is a schematic diagram of an operating table system according to the present disclosure using an iterative method for detecting errors; [Figure 10A] FIG. 1 is a schematic diagram of a surgical table according to the present disclosure to illustrate the movement of the center of load with inclination of the patient support surface. [Figure 10B]FIG. 1 is a schematic diagram of a surgical table according to the present disclosure to illustrate the movement of the center of load with inclination of the patient support surface. [Figure 11] FIG. 2 is a schematic diagram of an iterative method for detecting errors using a Kalman filter. [Figure 12] FIG. 2 is a schematic diagram of a system model of a Kalman filter. [Figure 13] FIG. 1 is a schematic diagram of tilt rotation and tendency rotation. [Figure 14] FIG. 1 is a schematic diagram of an operating table system having a method for detecting errors using system imbalance in accordance with the present disclosure. [Figure 15] FIG. 15 is a functional schematic diagram of the operating table system of FIG. 14. [Figure 16a] FIG. 2 is a schematic diagram of different simulated system imbalances. [Figure 16b] FIG. 2 is a schematic diagram of different simulated system imbalances. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0082] Detailed Description of the Drawings In the following description, exemplary embodiments of the present disclosure are described with reference to the drawings, which are not necessarily drawn to scale and are intended to illustrate respective features only in a schematic manner.

[0083] It should be noted that the features and components described below can each be combined with each other, regardless of whether they are described in connection with a single embodiment, and the combination of features in each embodiment serves only to describe the general structure and function of the claimed device.

[0084] In the drawings, the same or similar elements are designated with the same reference numbers wherever appropriate.

[0085] 1 shows diagrammatically a mobile operating table 10 that can be used to support and transport a patient 12 during a surgical intervention. The mobile operating table 10 comprises, from bottom to top, feet 14 for positioning the operating table 10 underground, a vertically disposed operating table post 16 with the feet 14, and a patient support surface 18 fixed to the upper end of the operating table post 16. The patient support surface 18 can be rigidly connected to the operating table post 16 or can be removably fixed to the operating table post 16.

[0086] The patient support surface 18 is modularly formed and functions to support the patient 12. The patient support surface 18 comprises a main support surface portion 20 connected to the table column 16, which can be extended as desired by connecting various sub-support surface portions. In FIG. 1, the legs 22, shoulders 24, and head 26 are connected to the main support surface portion 10 as sub-support surface portions.

[0087] Depending on the type of surgical intervention being performed, the patient support surface 18 of the operating table 10 can be at an appropriate height and can be tilted and inclined.

[0088] The table column 16 is configured to be height adjustable and has an internal mechanism for adjusting the height of the patient support surface 18 of the table 10. The mechanism is disposed within a housing 28 which protects the components from contamination.

[0089] The foot 14 has two sections 30, 32 of different lengths. Section 30 is a short section and is assigned to the foot end of the leg 22, i.e. the end of the patient support surface 18 where the feet of the patient 12 to be treated are located. Section 32 is a long section and is assigned to the head 26 of the patient support surface 18.

[0090] Additionally, the feet 14 may have wheels or rolls that allow the operating table 10 to be moved across the ground, or the feet 14 may be fixedly mounted to the ground.

[0091] For better illustration, a Cartesian coordinate system XYZ is inserted in Fig. 1. The X and Y axes are horizontal axes and the Z axis is vertical. The X axis extends along the support surface sub-portions 22, 24, 26 arranged adjacent to each other.

[0092] 2 shows a schematic system architecture of an operating table system 100 according to the present disclosure. The operating table system 100 is a system according to a first aspect of the present disclosure and is operable in a method according to a ninth aspect.

[0093] 1, the operating table system 100 comprises a load sensor device 102, a load determination unit 104, a safety unit 106, a monitoring and calibration unit 108, a data storage device 110, as well as further components 112 of the operating table system 100. Furthermore, the safety unit 106 includes an anti-tip unit 114 and an overload protection unit 116. The monitoring and calibration unit 108 comprises a calculation unit 117 and an error recognition unit 118.

[0094] The load sensor device 102 includes several load sensors and is formed to measure at least one magnitude that allows to determine the load acting on the load sensor device 102. In this case, the load sensors are force sensors that respectively measure the force acting on the respective sensor. The sensor or force values ​​measured by the individual force sensors are issued by the load sensor device 102 as a signal 120 in digital format. Furthermore, the load sensor device 102 includes electronic components necessary for the operation of the force sensors.

[0095] The load determination unit 104 receives a signal 120 having measured sensor or force values ​​and determines therefrom at least one first size, which may be the following sizes: load, load center, velocity of the load center, and / or acceleration of the load center. The load determination unit 104 may determine as load the measured load, the active load, and / or the total load.

[0096] To be able to properly process and analyze the delivered force values, the load determination unit 104 needs some data on the geometry and mass or weight of the operating table 10 and the accessories. These data are stored in the data storage device 110 and provided to the load determination unit 104 by signal 122. From these data, in particular information on the mass and center of mass of the individual components and accessories of the operating table 10 can be obtained. The data storage device 110 can be expanded via a connection module of the operating table 10.

[0097] The load determination unit 104 generates as output signal a signal 124 containing information about at least the first size, i.e. the determined load and / or load center, and, if applicable, the velocity and / or acceleration of the load center. Furthermore, the signal 124 contains the sensor values ​​issued by the load sensors. These information are transmitted to both the safety unit 106 and the monitoring and calibration unit 108.

[0098] The safety unit 106 analyzes all available data, including load, center and position data of the operating table 10 and the accessories recognized by the operating table 10. The safety unit 106 determines whether the operating table 10 is in a safe state or a dangerous situation. The safety unit 106 generates a safety signal 126 indicating whether the operating table 10 is in a safety critical state or not.

[0099] Depending on the severity of the detected situation, the algorithm reacts accordingly. The operating table 10 can, for example, only issue a warning or stop movement. The warning can be via an acoustic or optical signal via the operating table 10 or in text form via a remote control. Measures can range from slowing down the speed of movement to stopping movement or blocking some functions and can continue until the operating table 10 reaches a safe state again.

[0100] The safety feature may be deactivated by the user at any time, allowing movement of the operating table 10 to continue at the user's own risk.

[0101] The tip-over prevention unit 114 and the overload protection unit 116 are subunits of the safety unit 106. The tip-over prevention unit 114 uses the total load and / or the total load center to generate a tip-over safety signal 128 indicating whether the operating table 10 is at risk of tipping over. The overload protection unit 116 uses the active load and / or the active load center to generate an overload protection signal 130 indicating whether the operating table 10 and / or at least one component of the operating table 10 is at risk of overload. Alternatively, the overload protection unit 116 can use the measured load or the total load and / or the center of one of these loads to generate the overload protection signal 130. The tip-over safety signal 128 and the overload protection signal 130 are both safety signals of the safety unit 106.

[0102] If the feet 14 do not have wheels or rolls, but are instead firmly connected to the ground, the anti-tip unit 114 may be deactivated or may not be implemented in the safety unit 106.

[0103] To ensure that the system 100 recognizes critical situations, the system 100 also has a monitoring and calibration unit 108. This software module checks the validity of the measurements and recognizes if the system is operating improperly or if a calibration or tare or the system 100 needs to be performed. The monitoring and calibration unit 108 generates corresponding output signals 132, 134, which are sent to the load determination unit 104 or to the components 112 of the operating table 10.

[0104] A calculation unit 117 integrated in the monitoring and calibration unit 108 receives a signal 124 from the load determination unit 104, which includes information about at least one first size, i.e. the determined load and / or load center, and, if applicable, the velocity and / or acceleration of the load center. The calculation unit 117 uses the at least one first size to calculate at least one expected second size.

[0105] The error recognition unit 118 compares the value determined by the load sensor device 102 or the load determination unit 104 with the expected second size determined by the calculation unit 117, and the error recognition unit 118 compares the sensor value or the at least one first size issued by the load sensor with the at least one expected second size. The error recognition unit 117 determines that an error exists if the deviation of the at least one expected second size from the sensor value or the at least one first size exceeds a predetermined value. The error can be, for example, a faulty sensor or an error occurring when the load or the load center is determined. The error recognition unit 118 generates an error signal 138, which is sent to the safety unit 106. The detected error and the error signal 138 can be interpreted as a possibility of error or can include a possibility of error. In some designs, further testing can be required until it is determined that an error actually exists.

[0106] If the error recognition unit 118 detects an error and / or a possible error, the safety unit 106 is notified by an error signal 138. The safety unit 106 can then take necessary measures, for example a warning can be issued or the movement of the operating table 10 can be slowed down or stopped, as described above.

[0107] Each component 112 of the operating table 10 continuously generates position data recognized by the operating table 10, data for adjusting the individual components, and information regarding the accessories. These data are provided to the system 100 by a signal 136.

[0108] Figure 3 illustrates diagrammatically different loads that the load determination unit 104 can determine using data delivered by the load sensor unit 102. In Figure 3, the measured load, the active load and the total load are characterized by reference numerals 140, 142 and 144. The load determination unit 104 can determine the position of the associated load center as well as the velocity and / or acceleration of the load center for each of these loads.

[0109] The measured load is a load acting on the load sensor device 102. The measured load corresponds to the load generated by all people, objects and forces on the operating table 10 above the load sensor. The measured load corresponds to a load value measured by the load sensor device 102.

[0110] The active load corresponds to the load acting on the operating table 10, caused by components, people and external forces not assigned to the operating table 10. The active load does not take into account the influence of components assigned to the operating table 10 and the influence of recognized accessories. Only other components of the operating table 10, i.e. components not assigned to the operating table 10, contribute to the active load. These can be, for example, accessories not recognized by the operating table 10. Also, the patient positioned on the operating table 10 contributes to the active load. Furthermore, all forces acting externally on the operating table 10, for example applied to the operating table 10 by people and / or objects outside the operating table 10, contribute to the active load. In general, the active load is a measured load that is not influenced by known objects such as table top parts, recognized accessories, etc.

[0111] The total load is the load resulting from the measured load and from loads caused by components that are assigned to the operating table 10 and that are below the load sensor device 102. The total load therefore takes into account loads from components that are located below the load sensor device 102 and cannot be measured by the load sensor device 102 and therefore do not contribute to the measured load. The total load is therefore the load resulting from the entire operating table 10, the patient, the components assigned to the operating table 10, the components not assigned to the operating table 10, and other external forces.

[0112] 4A-4C show schematic diagrams of a surgical table 10 according to different embodiments of the present disclosure. In the operating table 10, the load sensor device 102 having several load sensors is arranged between at least two parts of the operating table 10. In particular, the at least two parts are substantially not movable relative to each other. With this design, the at least two parts do not substantially move relative to each other, i.e. they remain substantially in the same position relative to each other during the operation of the operating table 10, in particular while the patient support surface 18 is adjusted, for example during the inclination and / or tilt and / or deployment of the patient support surface 18. This applies both to the distance of the at least two parts from each other and to the angle or angles that the at least two parts together include.

[0113] The load sensor device 102 is preferably integrated into the operating table 10 such that the entire load above the load sensor flows through or is transferred by the load sensor device 102 .

[0114] The load sensor device 102 can be positioned at different locations on the operating table 10. In the embodiment shown in Figure 4A, the load sensor device 102 is positioned between the foot 14 and the table column 16, while in Figure 4B the load sensor device 102 is integrated into the table column 16. In Figure 4C the load sensor device 102 is adjacent the interface between the patient support surface 18 and the table column 16.

[0115] FIG. 5A shows a surgical table 10 with a load sensor device 102 arranged between a patient support surface 18 and a surgical table column 16. The load sensor device 102 includes four structurally identical load sensors 1a, 1b, 2a, and 2b arranged in parallel and mirror images of each other. Two different variations for arranging the force sensors 1a, 1b, 2a, and 2b are shown in FIG. 5B and FIG. 5C. FIG. 5B and FIG. 5C each show a top view of the load sensor device 102 along the line AA depicted in FIG. 5A. In some designs, the load sensor device 102 can include at least three or at least four force sensors.

[0116] For the alignment of the force sensors 1a, 1b, 2a, 2c, a mutually perpendicular first axis 210 and a second axis 212 are provided. The first axis 210 extends parallel to a main axis of the patient support surface 18, and the second axis 212 extends perpendicular to this main axis but parallel to the patient support surface 18.

[0117] Each of the force sensors 1a, 1b, 2a, 2c has a major axis aligned parallel to the first axis 210 in FIG. 5B. In FIG. 5C, the major axes of the force sensors 1a, 1b, 2a, 2b are arranged parallel to the second axis 212. Furthermore, each of the force sensors 1a, 1b, 2a, 2b are arranged in pairs with mirror symmetry with respect to the axes 210, 212. Each of the pairs (1a, 1b), (1a, 2a), (1b, 2b) and (2a, 2b) forms a mirror symmetric force sensor pair. In some embodiments, the force sensors 1a, 1b, 2a, 2b are arranged in a 2×2 grid as shown. In some embodiments, the grid arrangement has at least two force sensors 1a, 1b, 2a, 2b on each side. In some embodiments, the force sensors 1 a , 1 b , 2 a , 2 b all lie in a single common plane that intersects both the first axis 210 and the second axis 212 .

[0118] The force sensors may also be positioned within the sensor device 102 differently than in Figures 5B and 5C. Some exemplary alternative placements of the force sensors in the sensor device 102 are shown in Figure 5D.

[0119] In the example of the sensor device 102 shown in Figure 5B or Figure 5C, the measured load can be calculated by adding up all of the forces measured by sensors 1a, 1b, 2a, 2b. The corresponding center can be calculated with the help of the torque compensation formula shown below and the forces shown in Figures 6A and 6B. Figure 6A shows a cross-sectional view along the x-axis and Figure 6B shows a cross-sectional view along the y-axis. The torque compensation formula can be applied in both directions so that the x- and y-components of the center can be determined.

[0120]

number

[0121]

number

[0122]

number

[0123] In formulas (2) to (4), F Last is the weight force exerted by the patient. Force F 1a ,F 1b ,F 2a and F 2b are the forces measured by sensors 1a, 1b, 2a, 2b. Parameters a and b are the distances of the sensors in the x and y directions. CG and Y CG are the x and y coordinates of the center of load induced by the patient.

[0124] The active and total loads and their corresponding center values ​​can be calculated by adding or subtracting the corresponding components of the operating table 10 and their center values ​​stored in the data storage device 110.

[0125] The arrangement of sensors 1a, 1b, 2a, 2b proposed in Fig. 5B and Fig. 5C protects the system against lateral forces F r As shown in Fig. 7A and Fig. 7B, r are cancelled out due to the symmetric arrangement.

[0126] The cancellation of lateral forces also enables the described system to reliably measure forces and centers when the patient support surface 18 is in an inclined position. Last can be split into two components. One component is transverse to the force sensor and is cancelled by the effects mentioned above. The second component F 測定 extends perpendicular to the force sensor or the major surface of the patient support surface 18 and is reliably measured. Knowing the inclination angle α of the patient support surface 18, the actual force above the sensor and its center can be calculated.

[0127] Figure 9 illustrates generally an operating table system 200 in accordance with the present disclosure, which is largely similar to the operating table system 100 depicted generally in Figure 2. Elements of the operating table system 200 that are the same as or similar to elements of the operating table system 100 are numbered the same.

[0128] The operating table system 200 is a system according to a second aspect of the present disclosure. The operating table system 200 comprises, apart from the operating table 10, a load sensor device 102 having several load sensors, a load determination unit 104, a calculation unit 117, an error recognition unit 118, and a state estimation unit 119. The state estimation unit 119 can be integrated into the monitoring and calibration unit 108 together with the calculation unit 117 and the error recognition unit 118.

[0129] Before describing the individual components and functions of operating table system 200, it is necessary to first describe the physical and mathematical considerations on which operating table system 200 is based.

[0130] When the applied load of the patient or the operating table 10 moves during tilting or tilting of the patient support surface 18, the applied load center moves along a circular trajectory that can be calculated in advance. When the patient support surface moves longitudinally, the applied load moves along a linear trajectory. It is therefore possible to make an estimate over the entire trajectory of the applied load as the patient support surface is adjusted or moved.

[0131] This consideration makes it useful to utilize the position sensors of the operating table 10 to check the load center determined by the load sensors (and vice versa). If there is an error in the sensors, the trajectory determined for the applied load will not function as expected. The expected trajectory can be calculated with the help of the kinematics and physical relations of the operating table 10 known from classical mechanics.

[0132] This principle is explained with the aid of Figures 10A and 10B. Figure 10A shows the operating table 10 with the patient support surface 18 in a horizontal position. The patient center is indicated in Figure 10A and is designated by the reference COG. 前 The patient support surface 18 is tilted, which causes the patient center to move along a circular trajectory. The patient center after the adjustment of the patient support surface 18 is characterized by the COG in FIG. 後 It is characterized by the central COG 後 can be determined with the help of the sensor values ​​of the load sensors. Furthermore, the patient center to be reached due to the tendency of the patient support surface 18 can be predicted or forecasted or pre-calculated or estimated. The predicted center is shown as COG in FIG. 10B. 予測 This is called the predicted central COG. 予測 From center COG 後 If the deviation is too large, it can be concluded that an error is present.

[0133] The detected error may be due to a fault in a sensor. The faulty sensor may be, for example, a load sensor, a sensor for detecting a trend of the patient support surface, a sensor for detecting an inclination of the patient support surface, a sensor for detecting a longitudinal displacement of the patient support surface, or a sensor for detecting a lateral displacement of the patient support surface. However, it may also be that an error occurred during the determination of the load or the load center.

[0134] The mathematical process that the operating table system 200 uses to detect errors is described below.

[0135] The load center, i.e. a point with x, y, and z coordinates (in meters), the positions of the joints for inclination and tilt of the patient support surface 18 (in degrees), and the longitudinal displacement of the patient support surface 18 (in meters) are used as input values.

[0136]

number

[0137]

number

[0138]

number

[0139]

number

[0140]

number

[0141] Since the load can reversibly deform the operating table in some positions, the tolerance for recognizing errors must be large enough to avoid false positive results. Therefore, a tolerance should be defined that distinguishes between genuine errors, e.g. sensor errors, and sensor noise and inaccuracies in the system model.

[0142] According to a third aspect of the present disclosure, instead of estimating the position of the load center, the Kalman filter can be simplified by comparing the load center velocity or acceleration calculated from the kinematics of the operating table 10 with the load center velocity or acceleration derived from the center measurement. If the deviation between the velocities or accelerations is too large, an error exists.

[0143] To explain the functionality of the Kalman filter, an exemplary algorithm that can be implemented by the Kalman filter is given below. For simplicity, assume that the trend and tilt rotation axes have the same origin. The trend and tilt rotation axes and the measurement center (X CG ) is given as the distance (the radius of the circular path). CG can be determined as follows:

[0144]

number

[0145] During the ceremony,

[0146]

number

[0147] As shown in FIG. 12, the Kalman filter employs a linear time-invariant system model. The Kalman filter is described by the following equation:

[0148] prediction:

[0149]

number

[0150] Filtration:

[0151]

number

[0152] gain:

[0153]

number

[0154]

number

[0155] A constant velocity 3DOF Kalman filter can be assumed as follows: This particular filter is based on a linear system with a constant velocity.

[0156]

number

[0157] The process noise matrix is ​​based on white noise.

[0158]

number

[0159] The starting matrix H is pre-configured as an identity matrix. Therefore, the filter also expects the complete state vector as the measurement (x, y, z, v x ,v y ,v z ).

[0160] If we consider the velocity of the center instead of the position of the center, the algorithm can be simplified as shown below.

[0161] Assume the following prerequisites: - tendency as the only source of rotation about the y-axis, - Tilt as the only source of rotation about the x-axis, -Longitudinal displacement contributes only to linear velocity in the x-direction.

[0162] Calculating the load center velocity can be simplified as follows:

[0163]

number

[0164] As shown in Figure 13, r tilt and r trend must be distinguished because they do not have the same rotation axis origin.

[0165] Figure 14 illustrates generally an operating table system 300 in accordance with the present disclosure, which is largely similar to the operating table system 100 illustrated generally in Figure 2. Elements of operating table system 300 that are the same as or similar to elements of operating table system 100 are numbered the same.

[0166] The operating table system 300 is a system according to a fourth aspect of the present disclosure. The operating table system 300 comprises, apart from the operating table 10, a load sensor device 102 having several load sensors, a load determination unit 104, a calculation unit 117, and an error recognition unit 118. The functionality of the operating table system 300 is shown in FIG.

[0167] The load sensor device 102 of the operating table system 300 has four load sensors 1a, 1b, 2a, 2b arranged at the corners of an imaginary rectangle 150 shown in FIG. 15. The rectangle 150 has lateral lengths a and b. The load sensors 1a, 2a and the load sensors 1b, 2b each have a distance a from each other. The load sensors 1a, 1b and the load sensors 2a, 2b each have a distance b from each other. The load sensors 1a, 1b, 2a, 2b measure the respective forces acting thereon and generate sensor values ​​F. 1a_m , F 1b_m , F 2a_m or F 2b_m which reflect the forces acting on the load sensors 1a, 1b, 2a, 2b. The load determination unit 104 issues the sensor values ​​F 1a_m , F 1b_m , F 2a_m , F 2b_m Using the load F ga and the coordinate X in the plane of rectangle 150 a , Y a The calculation unit 117 determines the weight center of the load F ga and the coordinate of the load center X a , Y a and these values ​​are used to calculate the theoretical sensor value F 1a_t , F 1b_t , F 2a_t , F 2b_t Calculate the theoretical sensor value F 1a_t , F 1b_t , F 2a_t , F 2b_t is the weight F determined by the weight determining unit 104. ga and coordinate X a , Y a The sensor values ​​F issued by the load sensors 1a, 1b, 2a, and 2b at the load center of the load sensor 1a, 1b, 2a, and 2b are the sensor values ​​F that should be issued by the load sensors 1a, 1b, 2a, and 2b at the load center of the load sensor 1a, 1b, 2a, and 2b. 1a_m , F 1b_m , F 2a_m , F 2b_m and the theoretical sensor value F calculated by the calculation unit 117. 1a_t , F 1b_t , F 2a_t , F 2b_tare compared. For example, the error recognition unit 118 calculates a difference F i_t -F i_m (where i = 1a, 1b, 2a, 2b) for each of the load sensors 1a, 1b, 2a, 2b. The difference F i_t -F i_m indicates a system imbalance. For example, the error recognition unit 118 detects an error and / or the possibility of an error when one or more differences F i_t -F i_m exceed a predetermined value. In some designs, the amounts of the differences F i_t -F i_m for all of the load sensors 1a, 1b, 2a, 2b can be made equal. In particular, it is sufficient to check the difference F i_t -F i_m for only one of the load sensors 1a, 1b, 2a, 2b, from which the possibility of an error can already be recognized.

[0168] As an example, in FIGS. 16a and 16b, the system imbalance F 1a_t -F 1a_m simulated for the sensor 1a is plotted against time. The patient support surface 18 is in a flat position. The curve 160 in FIG. 16a and the curve 170 in FIG. 16b show the system imbalance of the sensor 1a when the operating table system 300 is operating normally. All of the other curves show the system imbalance F 1a_t -F 1a_m of the sensor 1a when an error is artificially induced in the sensor 1a. In FIG. 16a, the curves 161, 162, 163, 164 show the system imbalance in the case of artificially induced errors of -1000 N, -400 N, 400 N, and 1000 N. In FIG. 16b, the curves 171, 172, 173, 174 show the system imbalance in the case of coefficients 1.4, 1.2, 0.8, and 0.6. Each coefficient indicates a coefficient that is multiplied by the actual value and is erroneously indicated by the load sensor 1a.

[0169] Hereinafter, the load F ga_m and the coordinates X a_m , Y a_mThe theoretical sensor value F that should be issued by the load sensors 1a, 1b, 2a, and 2b at the load center of 1a_t , F 1b_t , F 2a_t , F 2b_t is the weight F determined by the weight determining unit 104. ga_m and coordinate X a_m , Y a_m We will now explain, using an example, how the load is calculated from the center of load.

[0170] Load F ga_m and the coordinate of the load center X a_m , Y a_m The relationships described above in equations (2) to (4) apply to

[0171]

number

[0172]

number

[0173]

number

[0174] Theoretical sensor value F 1a_t , F 1b_t , F 2a_t , F 2b_t is the coordinate of the load center X a_m , Y a_m and the sensor value F 1a_m , F 1b_m , F 2a_m , F 2b_m From this, it is calculated as follows:

[0175]

number

[0176]

number

[0177]

number

[0178]

number

[0179] Theoretical sensor value F 1a_t , F 1b_t , F 2a_t , F 2b_t and the respective measured sensor values ​​F 1a_m , F 1b_m , F 2a_m , F 2b_m The difference Δ with respect to the load sensor 1a can be calculated as follows, for example.

[0180]

number

[0181] If the difference Δ is greater than a predefined threshold, for example 300N, an error is determined, i.e., a system imbalance exists. If the difference Δ is less than the threshold, the system is operating correctly.

[0182] Below are examples of values ​​for system imbalance: For this the load sensor 1a was loaded with an error of 500N.

[0183] Measured sensor value:

[0184]

number

[0185] Calculated loads and calculated load centres:

[0186]

number

[0187] Calculated theoretical sensor values:

[0188]

number

[0189] Calculated delta Δ:

[0190]

number

[0191] When the amount of difference Δ is greater than a predetermined exemplary threshold of 300N, a system imbalance exists, i.e., the system is not operating correctly.

[0192] For comparison, below is an example of a correctly operating system. In contrast to the above incorrectly operating system, here the sensor value F 1a_m No error of 500N was added to the other sensor values ​​F 1b_m , F 2a_m , F 2b_m corresponds to the above sensor value.

[0193] Measured sensor value:

[0194]

number

[0195] Calculated loads and calculated load centres:

[0196]

number

[0197] Calculated theoretical sensor values:

[0198]

number

[0199] Calculated delta Δ:

[0200]

number

[0201] The difference Δ is smaller than the threshold 300N. Therefore, the system is working correctly. Exemplary embodiments and variations corresponding to the present disclosure are set forth in the following list of clauses and options.

[0202] Item 1: A system (100, 200, 300) for detecting errors in sensors of an operating table (10) and / or errors in determining a load or a load center, comprising: a surgical table (10) having an adjustable patient support surface (18) for supporting a patient; a load sensor device (102) having several load sensors (1a, 1b, 2a, 2b) which issue sensor values; a load determination unit (104) for determining, using the sensor values, at least one of the following first sizes: load, load center, velocity of the load center, and acceleration of the load center, where the load is the load acting on the load sensor device (102), or the load acting on the operating table (10), or the total load of the operating table (10); a calculation unit (117) for predicting or calculating at least one expected second size; an error recognition unit (118) for comparing the sensor value or at least one first size with at least one expected second size and detecting an error and / or a possible error if the deviation exceeds a predetermined value; A system comprising:

[0203] Term 2: When the patient support surface (18) is adjusted, the calculation unit (117) predicts the load center changed by the adjustment as at least one second size; a load determining unit (104) for determining at least a load center as at least one first size after adjusting the patient support surface (18) using the sensor values; 13. The system (100, 200) of claim 1, wherein an error recognition unit (118) compares the load center predicted by the calculation unit (117) with the load center determined by the load determination unit (104) and detects errors and / or possible errors if the deviation exceeds a predetermined value.

[0204] Item 3: The system (100, 200) described in Item 2, further comprising a state estimation unit (119) for estimating an actual load center using the load center predicted by the calculation unit (117) and the load center determined by the load determination unit (104), wherein the state estimation unit (119) estimates the actual load center using, in particular, a weighted value of the load center predicted by the calculation unit (117) and a weighted value of the load center determined by the load determination unit (104).

[0205] Item 4: The system (100, 200) according to item 3, wherein the state estimation unit (119) comprises a Kalman filter for estimating the actual load center.

[0206] Clause 5: The system (100, 200) described in clause 1, wherein the calculation unit (117), the load determination unit (104) and the state estimation unit (119) operate iteratively, by the calculation unit (117) predicting the load center at time t+1 as at least one second size using the actual load center at time t estimated by the state estimation unit (119), the load determination unit (104) determining the load center at time t+1 as at least one first size, and then the state estimation unit (119) estimating the actual load center at time t+1 using the load center at time t+1 determined by the calculation unit (117) and the load center at time t+1 determined by the load determination unit (104).

[0207] Clause 6: A system (100, 200) as described in clause 5, wherein the error recognition unit (119) detects an error and / or a possible error if the load centre predicted by the calculation unit (117) and the load centre determined by the load determination unit (104) exceed a predetermined deviation, respectively, for at least a predetermined number of iterations.

[0208] Clause 7: A system (100, 200) as described in clause 5, wherein the error recognition unit (119) detects an error and / or a possible error if the load centre predicted by the calculation unit (117) and the load centre determined by the load determination unit (104) exceed a predefined deviation in at least one of the iterations.

[0209] Clause 8: When the patient support surface (18) is adjusted, a calculation unit (117) predicts a velocity or acceleration of the center of load as at least one second size; a load determining unit (104) for determining at least a velocity or acceleration of the load center as at least one first size after adjusting the patient support surface (18) using the sensor values; 13. The system (100, 200) of claim 1, wherein an error recognition unit (118) compares the velocity or acceleration of the load center predicted by the calculation unit (117) with the velocity or acceleration of the load center determined by the load determination unit (104) and detects an error and / or a possible error if the deviation exceeds a predetermined value.

[0210] Item 9: The system (100, 200) described in Item 8, further comprising a state estimation unit (119) for estimating an actual velocity or acceleration of the load center using the velocity or acceleration of the load center predicted by the calculation unit (117) and the velocity or acceleration of the load center determined by the load determination unit (104).

[0211] Item 10: The system (100, 200) according to item 9, wherein the state estimation unit (119) comprises a Kalman filter for estimating an actual velocity or acceleration of the load center.

[0212] Clause 11: The system (100, 200) described in clause 1, wherein the calculation unit (117), the load determination unit (104) and the state estimation unit (119) operate iteratively by the calculation unit (117) predicting the velocity or acceleration of the load center at time t+1 as at least one second size using the actual velocity or acceleration of the load center at time t estimated by the state estimation unit (119), the load determination unit (104) determining the velocity or acceleration of the load center at time t+1 as at least one first size, and then the state estimation unit (119) estimating the actual velocity or acceleration of the load center at time t+1 using the velocity or acceleration of the load center at time t+1 predicted by the calculation unit (117) and the velocity or acceleration of the load center at time t+1 determined by the load determination unit (104).

[0213] Item 12: A system (100, 200) as described in Item 11, wherein the error recognition unit (118) detects an error and / or a possible error when the velocity or acceleration of the load center predicted by the calculation unit (117) and the velocity or acceleration of the load center determined by the load determination unit (104) each exceed a predetermined deviation for at least a predetermined number of iterations.

[0214] Clause 13: A system (100, 200) as described in clause 11, wherein the error recognition unit detects an error and / or a possible error if the velocity or acceleration of the load centre predicted by the calculation unit (117) and the velocity or acceleration of the load centre determined by the load determination unit (104) exceed a predetermined deviation in at least one iteration.

[0215] Clause 14: A load determining unit (104) determines a load and / or a load center as a first size using the sensor value; a calculation unit (117) calculates theoretical sensor values ​​for a second size, the theoretical sensor values ​​being sensor values ​​that should be issued by the load sensors (1 a, 1 b, 2 a, 2 b) at the load and / or load centre determined by the load determination unit (104); 1. A system (100, 300) as described in claim 1, wherein an error recognition unit (118) compares the sensor values ​​issued by the load sensors (1a, 1b, 2a, 2b) with theoretical sensor values ​​calculated by the calculation unit (117) and detects errors and / or possible errors if a deviation exceeds a predefined value.

[0216] Item 15: A system (100, 300) as described in item 14, wherein the error recognition unit (118) is capable of detecting errors and / or potential errors when the patient support surface (18) is not adjusted.

[0217] Item 16: A system (100, 300) according to any one of the preceding items, wherein the load sensor device (102) has at least three load sensors or at least four load sensors (1a, 1b, 2a, 2b).

[0218] Item 17: A system (100, 300) according to any one of the preceding items, wherein several load sensors (1a, 1b, 2a, 2b) are arranged in a single common plane.

[0219] Item 18: A plurality of load sensors (1a, 1b, 2a, 2b) are arranged mirror-symmetrically with respect to a first axis (210) and mirror-symmetrically with respect to a second axis (212); The system (100, 300) of any one of the preceding claims, wherein the first and second axes (210, 212) are aligned orthogonal to one another.

[0220] Clause 19: A system (100) described in any one of the preceding clauses, wherein the error recognition unit (118) detects a possible error in at least one of the load sensors (1a, 1b, 2a, 2b) when the load determined by the load determination unit (104) is negative.

[0221] Clause 20: A system (100) as described in any one of the preceding clauses, wherein the error recognition unit (118) detects an error and / or a possible error in at least one of the load sensors (1a, 1b, 2a, 2b) if the load determined by the load determination unit (104) exceeds a predetermined value and / or if the load center determined by the load determination unit (104) is outside a predetermined space.

[0222] Clause 21: A system (100) as described in any one of the preceding clauses, wherein the error recognition unit (118) detects an error and / or a possible error in one of the load sensors (1a, 1b, 2a, 2b) if the sensor value of the load sensor does not change but the sensor value of the other load sensor changes, or if the sensor value of the load sensor changes but the sensor value of the other load sensor does not change.

[0223] Item 22: In the case of inclination and / or tilt of the patient support surface (18), the load F determined by the load determination unit (104) 測定 an error recognition unit (118) detects an error and / or a possible error in one of the load sensors (1 a, 1 b, 2 a, 2 b) if

[0224]

number

[0225] In the formula, F 荷重 is the load acting on the patient support surface (18), α is the inclination and / or tilt angle of the patient support surface (18), and F dl is a tare load including a portion of the operating table (10) and all loads above the load sensors (1a, 1b, 2a, 2b).

[0226] Item 23: A system (100) as described in any one of the preceding items, wherein the adjustment of the patient support surface (18) includes one or more of the following actions: inclination of the patient support surface (18), inclination of the patient support surface (18), longitudinal displacement of the patient support surface (18), lateral displacement of the patient support surface (18), and lateral displacement of the patient support surface (18).

[0227] Clause 24: A system (100) as described in any one of the preceding clauses, wherein the sensor error is an error in one or more of the following sensors: a load sensor (1a, 1b, 2a, 2b), a sensor for detecting a trend of the patient support surface (18), a sensor for detecting an inclination of the patient support surface (18), a sensor for detecting a longitudinal displacement of the patient support surface (18), a sensor for detecting a lateral displacement of the patient support surface (18), and a column lift sensor.

[0228] Clause 25: A system (100) as described in any one of the preceding clauses, wherein the error recognition unit (118) generates an error signal upon detection of an error and / or a possible error, thereby indicating a safety critical condition of the operating table (10), and an acoustic and / or optical and / or textual warning signal is generated and / or the movement of the operating table (10) is slowed down or stopped and / or at least one function of the operating table (10) is interrupted.

[0229] Clause 26: The system (100) of any one of the preceding clauses, wherein the calculation unit (117) predicts at least one expected second size.

[0230] Item 27: A method for detecting errors in sensors of an operating table (10) and / or errors in determining the load or the load center, comprising: A surgical table (10) having an adjustable patient support surface (18) for supporting a patient and a load sensor device (102) having a number of load sensors (1a, 1b, 2a, 2b) for issuing sensor values; Using the sensor values, at least one of the following first sizes is determined: load, center of load, velocity of the center of load, and acceleration of the center of load, where the load is the load acting on the load sensor device (102), or the load acting on the operating table (10), or the total load of the operating table (10); At least one expected second size is predicted or calculated; A method in which the sensor value or at least one first size is compared to at least one expected second size and an error is detected if the deviation exceeds a predetermined value.

[0231] Clause 28: When the patient support surface (18) is adjusted, the load center changed by the adjustment is predicted as at least one second size; At least a load center is determined as at least one first size after adjusting the patient support surface (18) using the sensor values; 28. The method of claim 27, wherein the predicted load center is compared to the determined load center and an error is detected if the deviation exceeds a predetermined value.

[0232] Clause 29: The load and / or load center are determined as a first size using the sensor values; a theoretical sensor value is calculated for a second size, the theoretical sensor value being the sensor value that the load sensor (1 a, 1 b, 2 a, 2 b) should issue at the determined load and / or at the determined load center, 28. The method according to claim 27, wherein the sensor values ​​issued by the load sensors (1a, 1b, 2a, 2b) are compared with theoretical sensor values ​​calculated by a calculation unit (117) and an error is detected if the deviation exceeds a predefined value.

[0233] Item 30: A system (100) for detecting an error in a sensor of an operating table (10), comprising: a surgical table (10) having an adjustable patient support surface (18) for supporting a patient; a load sensor device (102) having several load sensors (1a, 1b, 2a, 2b) which issue sensor values; a load determination unit (104) for determining at least one load using the sensor values, the load being a load acting on the load sensor device (102), a load acting on the operating table (10), or a total load of the operating table (10); an error recognition unit (118) for detecting a possible error in at least one of the load sensors (1a, 1b, 2a, 2b) if the load determined by the load determination unit (104) is negative; A system comprising:

[0234] Item 31: A system (100) for detecting errors in a sensor of an operating table (10), comprising: a surgical table (10) having an adjustable patient support surface (18) for supporting a patient; a load sensor device (102) having several load sensors (1a, 1b, 2a, 2b) which issue sensor values; a load determination unit (104) for determining at least one load and / or load center using the sensor values, the load being a load acting on the load sensor device (102), or a load acting on the operating table (10), or a total load of the operating table (10); an error recognition unit (118) for detecting an error and / or a possible error in at least one of the load sensors (1a, 1b, 2a, 2b) if the load determined by the load determination unit (104) exceeds a predetermined value and / or if the load center determined by the load determination unit (104) is outside a predetermined space; A system comprising:

[0235] Item 32: A system (100) for detecting an error in a sensor of an operating table (10), comprising: A surgical table (10) having a particularly adjustable patient support surface (18) for supporting a patient; a load sensor device (102) having several load sensors (1a, 1b, 2a, 2b) which issue sensor values; an error recognition unit (118) for detecting an error and / or a possible error in one of the load sensors (1a, 1b, 2a, 2b) when the sensor value of the load sensor has not changed but the sensor value of the other load sensor has changed, or when the sensor value of the load sensor has changed but the sensor value of the other load sensor has not changed; A system comprising:

[0236] Item 33: A system (100) for detecting an error in a sensor of an operating table (10), comprising: a surgical table (10) having an adjustable patient support surface (18) for supporting a patient; a load sensor device (102) having several load sensors (1a, 1b, 2a, 2b) which issue sensor values; a load determination unit (104) for determining at least one load using the sensor values, the load being a load acting on the load sensor device (102), a load acting on the operating table (10), or a total load of the operating table (10); In the case of a tilt and / or inclination of the patient support surface (18), the load F determined by the load determination unit (104) 測定 an error recognition unit (118) for detecting an error and / or a possible error in one of the load sensors (1 a, 1 b, 2 a, 2 b) if

[0237]

number

[0238] In the formula, F g is the load acting on the patient support surface (18), α is the inclination and / or tilt angle of the patient support surface (18), and F dl is a tare load including a part of the operating table (10) and all loads above the load sensors (1a, 1b, 2a, 2b), an error recognition unit; A system comprising:

Claims

1. A system (100, 200, 300) for detecting errors in sensors of an operating table (10) and / or errors in determining a load or a load center, comprising: a surgical table (10) having an adjustable patient support surface (18) for supporting a patient; a load sensor device (102) having several load sensors (1a, 1b, 2a, 2b) which emit sensor values; a load determination unit (104) for determining a first size of at least one of a load, a center of the load, a velocity of the load center, and an acceleration of the load center using the sensor values, the load being a load acting on the load sensor device (102), a load acting on the operating table (10), or a total load of the operating table (10); a calculation unit (117) for predicting or calculating at least one expected second size; an error recognition unit (118) for comparing said sensor value or said at least one first size with said expected at least one second size and for detecting an error and / or a possible error if a deviation exceeds a predefined value; A system comprising:

2. When the patient support surface (18) is adjusted, the calculation unit (117) predicts the load center changed by the adjustment as the at least one second size; the load determining unit (104) determines at least the load center as the at least one first size after adjusting the patient support surface (18) using the sensor values; 2. The system (100, 200) of claim 1, wherein the error recognition unit (118) compares the load center predicted by the calculation unit (117) with the load center determined by the load determination unit (104) and detects an error and / or a possible error if the deviation exceeds the predetermined value.

3. The system (100, 200) according to claim 2, further comprising a state estimation unit (119) for estimating an actual load center using the load center predicted by the calculation unit (117) and the load center determined by the load determination unit (104), in particular, the state estimation unit (119) for estimating the actual load center using a weighted value of the load center predicted by the calculation unit (117) and a weighted value of the load center determined by the load determination unit (104).

4. The system (100, 200) of claim 3, wherein the state estimation unit (119) comprises a Kalman filter for estimating the actual load center.

5. 2. The system (100, 200) of claim 1, wherein the calculation unit (117), the load determination unit (104) and the state estimation unit (119) operate iteratively by the calculation unit (117) predicting the load center at time t+1 as the at least one second size using the actual load center at time t estimated by the state estimation unit (119), the load determination unit (104) determining the load center at time t+1 as the at least one first size, and then the state estimation unit (119) estimating the actual load center at time t+1 using the load center at time t+1 determined by the calculation unit (117) and the load center at time t+1 determined by the load determination unit (104).

6. The system (100, 200) of claim 5, wherein the error recognition unit (119) detects an error and / or a possible error when the load center predicted by the calculation unit (117) and the load center determined by the load determination unit (104) exceed a predetermined deviation, respectively, for at least a predetermined number of iterations.

7. The system (100, 200) of claim 5, wherein the error recognition unit (119) detects an error and / or a possible error if the load center predicted by the calculation unit (117) and the load center determined by the load determination unit (104) exceed a predetermined deviation in at least one of the iterations.

8. When the patient support surface (18) is adjusted, the calculation unit (117) predicts the velocity or the acceleration of the center of load as the at least one second size; the load determining unit (104) determines at least the velocity or the acceleration of the load center as the at least one first size after adjusting the patient support surface (18) using the sensor values; 2. The system (100, 200) of claim 1, wherein the error recognition unit (118) compares the velocity or acceleration of the load center predicted by the calculation unit (117) with the velocity or acceleration of the load center determined by the load determination unit (104) and detects an error and / or a possible error if the deviation exceeds the predetermined value.

9. The system (100, 200) of claim 8, further comprising a state estimation unit (119) that estimates an actual velocity or acceleration of the load center using the velocity or acceleration of the load center predicted by the calculation unit (117) and the velocity or acceleration of the load center determined by the load determination unit (104).

10. The system (100, 200) of claim 9, wherein the state estimation unit (119) comprises a Kalman filter for estimating the actual velocity or acceleration of the load center.

11. 2. The system (100, 200) of claim 1, wherein the calculation unit (117), the load determination unit (104) and the state estimation unit (119) operate iteratively by the calculation unit (117) predicting the velocity or acceleration of the load center at time t+1 as the at least one second size using the actual velocity or acceleration of the load center at time t estimated by the state estimation unit (119), the load determination unit (104) determining the velocity or acceleration of the load center at time t+1 as the at least one first size, and then the state estimation unit (119) estimating the actual velocity or acceleration of the load center at time t+1 using the velocity or acceleration of the load center at time t+1 predicted by the calculation unit (117) and the velocity or acceleration of the load center at time t+1 determined by the load determination unit (104).

12. The system (100, 200) of claim 11, wherein the error recognition unit (118) detects an error and / or a possible error when the velocity or acceleration of the load center predicted by the calculation unit (117) and the velocity or acceleration of the load center determined by the load determination unit (104) each exceed a predetermined deviation for at least a predetermined number of iterations.

13. The system (100, 200) of claim 11, wherein the error recognition unit detects an error and / or a possible error if the velocity or acceleration of the load center predicted by the calculation unit (117) and the velocity or acceleration of the load center determined by the load determination unit (104) exceed a predetermined deviation in at least one of the iterations.

14. the load determining unit (104) uses the sensor values ​​to determine the load and / or the load centre as the first size; the calculation unit (117) calculates a theoretical sensor value for the second size, the theoretical sensor value being the sensor value that should be issued by the load sensor (1 a, 1 b, 2 a, 2 b) at the load and / or the load centre determined by the load determination unit (104); 2. The system (100, 300) according to claim 1, wherein the error recognition unit (118) compares the sensor values ​​issued by the load sensors (1a, 1b, 2a, 2b) with the theoretical sensor values ​​calculated by the calculation unit (117) and detects an error and / or a possible error if the deviation exceeds the predetermined value.

15. 15. The system (100, 300) of claim 14, wherein the error recognition unit (118) is capable of detecting errors and / or potential errors when the patient support surface (18) is not aligned.

16. 10. The system (100, 300) according to any one of the preceding claims, wherein the load sensor arrangement (102) comprises at least three load sensors or at least four load sensors (1a, 1b, 2a, 2b).

17. 10. The system (100, 300) according to any one of the preceding claims, wherein said several load sensors (1a, 1b, 2a, 2b) are arranged in a single common plane.

18. 10. The system (100, 300) of claim 1, wherein the load sensors (1a, 1b, 2a, 2b) are arranged with mirror symmetry about a first axis (210) and with mirror symmetry about a second axis (212), the first and second axes (210, 212) being aligned orthogonal to each other.

19. 10. The system (100) of claim 1, wherein the error recognition unit (118) detects a possible error in at least one of the load sensors (1 a, 1 b, 2 a, 2 b) if the load determined by the load determination unit (104) is negative.

20. The system (100) according to any one of the preceding claims, wherein the error recognition unit (118) detects an error and / or a possible error in at least one of the load sensors (1a, 1b, 2a, 2b) if the load determined by the load determination unit (104) exceeds a predetermined value and / or if the load center determined by the load determination unit (104) is outside a predetermined space.

21. A system (100) as claimed in any one of the preceding claims, wherein the error recognition unit (118) detects an error and / or a possible error in one of the load sensors (1a, 1b, 2a, 2b) if the sensor value of the load sensor does not change but the sensor values ​​of the other load sensors have changed, or if the sensor value of the load sensor changes but the sensor values ​​of the other load sensors have not changed.

22. In the case of inclination and / or tilt of the patient support surface (18), the load F determined by the load determination unit (104) 測定 the error recognition unit (118) detects an error and / or a possible error in one of the load sensors (1 a, 1 b, 2 a, 2 b) if [0010] In the formula, F 荷重 is the load acting on the patient support surface (18), α is the inclination and / or tilt angle of the patient support surface (18), F dl is a tare load including a portion of the operating table (10) and all loads above the load sensors (1a, 1b, 2a, 2b).

23. The system (100) of any one of the preceding claims, wherein the adjustment of the patient support surface (18) includes one or more of the following movements: inclination of the patient support surface (18), tilt of the patient support surface (18), longitudinal displacement of the patient support surface (18), lateral displacement of the patient support surface (18), and transverse displacement of the patient support surface (18).

24. 10. The system (100) according to any one of the preceding claims, wherein the sensor error is an error of one or more of the following sensors: load sensors (1a, 1b, 2a, 2b), a sensor for detecting the trend of the patient support surface (18), a sensor for detecting the inclination of the patient support surface (18), a sensor for detecting the longitudinal displacement of the patient support surface (18), a sensor for detecting the lateral displacement of the patient support surface (18), and a column lift sensor.

25. The system (100) according to any one of the preceding claims, wherein the error recognition unit (118) generates an error signal upon detection of an error and / or a possible error, thereby indicating a safety critical condition of the operating table (10), an acoustic and / or optical and / or textual warning signal is generated, and / or the movement of the operating table (10) is slowed down or stopped, and / or at least one function of the operating table (10) is interrupted.

26. 10. The system (100) of any one of the preceding claims, wherein the calculation unit (117) predicts the at least one expected second size.

27. A method for detecting errors in sensors of an operating table (10) and / or errors in determining a load or a load center, comprising: the operating table (10) having an adjustable patient support surface (18) for supporting a patient and a load sensor device (102) having several load sensors (1 a, 1 b, 2 a, 2 b) for issuing sensor values; Using the sensor values, at least one of the following first sizes is determined: load, center of the load, velocity of the load center, and acceleration of the load center, the load being the load acting on the load sensor device (102), or the load acting on the operating table (10), or the total load of the operating table (10); At least one expected second size is predicted or calculated; The method of claim 1, wherein the sensor value or the at least one first size is compared to the at least one expected second size and an error and / or a possible error is detected if the deviation exceeds a predetermined value.

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