DE102016218903A1 - Automated positioning of a mobile medical device - Google Patents

Abstract

A method for automated positioning of a mobile medical device (40) is described. In the method, sensor data (SD) are acquired from a surrounding area (R) of the mobile medical device (40) by means of a sensor device (42). Based on the sensor data (SD), self-localization is also performed by determining a relative position (RPOS) of the mobile medical device (40) relative to the scanned surrounding area (R). Furthermore, a target position (ZPOS) is carried out on the basis of an environment map (UK) with semantic information regarding individual subregions of the surroundings map (UK). Finally, an automated control of the mobile medical device (40) to the specified target position (ZPOS) on the basis of the determined relative position (RPOS) and the environment map (UK). A mobile medical device (40) is also described.

Description

The invention relates to a method for the automated positioning of a mobile medical device. Furthermore, the invention relates to a mobile medical device.

In modern medicine, a variety of medical devices or examination devices is used, which, for example. Using imaging techniques allow recordings from the inside of a human body.

An example of such devices are C-arm devices or C-arms, which are very large and mobile to move and are e.g. arcuate around a patient's body. In order to move the position of such a C-arm and the individual elements of such a C-arm, electric motors are sometimes used today, which move the C-arm and its individual elements.

C-arm machines are mostly used for different applications in different rooms. Conventionally, the C-arm machines are controlled by a user via a control unit to a desired position. In many applications, it is desirable for such a C-arm device to resume a previously actuated position. Often, it is difficult for the user to re-drive the exact position if there are no corresponding markers. Even if frequently-to-target items are highlighted, it can be tedious and tedious for the user to accurately reposition a previously taken position. In addition, such positioning processes cost time and attention, which cause additional stress, for example, in already high-clocked and dense workflows.

It is therefore an object of the present invention to enable an improved control of the positioning of medical devices, with which, in particular, a repeated start-up of positions already occupied once is made easier.

This object is achieved on the one hand by a method for automated positioning of a mobile medical device according to claim 1 and on the other hand by a mobile medical device according to claim 14.

In the method according to the invention for the automated positioning of a mobile medical device, preferably an imaging medical device, a surrounding area of the mobile medical device is scanned with the aid of a sensor device. In this case, sensor data are acquired by the sensor device. On the basis of the detected sensor data, self-localization is now carried out by determining a relative position of the mobile medical device relative to the scanned surrounding area. On the basis of the sensor data, distances of the mobile medical device to individual spatial structures can be determined, from which in turn a relative position of the mobile medical device relative to the scanned surrounding area is determined. Furthermore, a target position is determined on the basis of an environment map with semantic information regarding individual subregions of the area map. The area map provides cartographic information about each of the mobile medical device driven premises as well as the already mentioned semantic information. In this context, semantic information should be understood to mean information that describes or identifies a function, a purpose or an assignment of a subarea more closely. Finally, an automated control of the mobile medical device takes place at a predetermined target position on the basis of the determined relative position.

Depending on a given task, the combination of the semantic information, the cartographic information and the position information can autonomously or partially autonomously trigger a target suitable for a solution to a currently set task of a medical device. Thus, the staff is relieved of the control of the mobile medical device. If individual positions have already been actuated by the medical device once, they can be stored. For example, the saved position is entered in the area map. Later, such a position can be controlled autonomously again. Thus, automatic positioning allows for accurate, repeatable positioning of the mobile medical device, thus simplifying the re-entry of already stored positions to the user, since no additional assistant for manual system movement is required anymore. Since the user no longer has to manually position the mobile medical device, the procedure according to the invention does not require a user with experience with regard to the handling behavior of the mobile medical device. The mobile medical device can thus be integrated more quickly into the workflow. The training of new staff is simplified and the work efficiency increases.

According to the invention, a mobile medical device, for example a C-arm device, has a sensor device for detecting sensor data from a surrounding area of the mobile medical device. Part of the medical device according to the invention is also a position detecting unit for performing a self-localization by determining a relative position of the mobile medical device relative to the scanned surrounding area based on the sensor data. The medical device according to the invention also comprises a target position setting unit for determining a target position on the basis of an environment map with semantic information regarding individual subregions of the surrounding map. Part of the mobile medical device according to the invention is also a control unit for automated control of the mobile medical device to the specified target position based on the determined relative position and the area map.

The mobile medical device may e.g. an X-ray machine or the like with driven by electric motors and steerable rollers for moving the mobile medical device to the target position. The mobile medical device may also have other adjustable by electric motors, hydraulic drives or other drives elements. Preferably, the mobile medical device is a C-arm device.

Some essential components of the mobile medical device according to the invention can be formed predominantly in the form of software components. This particularly relates to the position detection unit, the target position setting unit and the control unit. In principle, however, these components can also be partly realized, in particular in the case of particularly fast calculations, in the form of software-supported hardware, for example FPGAs or the like. Likewise, the required interfaces, for example, if it is only about a transfer of data from other software components, be designed as software interfaces. However, they can also be configured as hardware-based interfaces, which are controlled by suitable software. The interfaces can be wired, wireless and optical. If an input unit is provided for the input of data by the user, for example in the form of a tablet computer, the communication can be carried out via a wireless interface.

A largely software implementation has the advantage that even previously used mobile medical devices can be retrofitted by a software update after a supplement by a sensor device in a simple manner to work in the inventive manner. In this respect, the object is also achieved by a corresponding computer program product with a computer program, which is directly loadable into a memory device of a mobile medical device, with program sections to perform all steps of the inventive method when the program is executed in the mobile medical device. Such a computer program product, in addition to the computer program optionally additional components such. For example, a documentation and / or additional components, including hardware components, such as. Hardware keys (dongles, etc.) for using the software include.

For transport to the mobile medical device and / or for storage on or in the mobile medical device, a computer-readable medium, for example a memory stick, a hard disk or other portable or permanently installed data carrier can serve, on which the data from a computer unit of the mobile medical device readable and executable program sections of the computer program are stored. The computer unit may e.g. for this purpose have one or more cooperating microprocessors or the like.

Further, particularly advantageous embodiments and developments of the invention will become apparent from the dependent claims and the following description, wherein the independent claims of a claim category can be further developed analogous to the dependent claims of another claim category or corresponding description parts and in particular also individual features of different embodiments Variants can be combined to new embodiments or variants.

In one embodiment of the method according to the invention for the automated positioning of a mobile medical device, an environment map is created for self-localization with the aid of the sensor data. The environment map can be used by the mobile medical device to determine its relative position to individual objects in the room and to find positions that are to be controlled for specific tasks and work steps.

For example, the self-localization can be done by comparing additionally acquired sensor data with the created environment map. Corresponds to the geometry of the structures determined on the basis of the acquired sensor data in space Structure on the map, it can be determined by comparison, the position of the sensor data corresponding structures. The position of the mobile medical device in the room can then be determined from the relative position of the mobile medical device to the recorded and drawn on the map environment structures.

In one embodiment of the method according to the invention for the automated positioning of a mobile medical device, the environment map is assigned the semantic information with the aid of a semantic environment model. Here, individual subareas of the area map are categorized according to their function or task area. For example, tasks or work steps assigned to specific subareas can be defined as a category. Thus, the environment map thus equipped with additional information can be used to automatically control specific positions for specific tasks.

In a particularly easy-to-use variant of the method according to the invention, the categorization of individual subregions of the environment map is carried out in advance manually by a user. In this case, the user assigns individual subareas in the created environment map functions or these characteristic designations depending on the structure and the position of the respective subarea and its prior knowledge. For this, the corresponding designations are entered in the area map. Advantageously, the semantic information of the surroundings map can then be accessed by the mobile medical device for fulfilling a specific function, and a destination position can be selected automatically or semi-automatically depending on the type of task to be performed and then approached.

Alternatively, the assignment of the semantic information can be carried out by reading machine-readable coding codes, which are arranged in the respective subregions to be categorized. In addition to codes such as QR codes or signal elements reflecting in the infrared spectrum (eg marker spheres, as used in optical navigation in surgical navigation systems) can also be combined with the method according to the invention in technologies such as NFC / RFID in order to enable the system to recognize certain areas /facilitate.

In this variant, editing of the semantic information in the environment map can advantageously be omitted. Instead, the assignment of semantic information takes place by starting or passing by the mobile medical device at the individual subareas, wherein the respective machine-readable code codes are read out there. This learning can be done both once in advance, i. before the actual application of the mobile medical device, but it can also be done during the application of the mobile medical device, in which case individual subareas are traversed and semantically categorized in the course of the application. It may also be necessary to go detours in this variant, since not all sections are initially categorized and can not be approached directly, if they are not yet known in the area map.

Alternatively, the categorization of individual subareas can also be done by automated pattern recognition. In this variant, the mobile medical device has general information about structures which are assigned to specific categories of partial areas of a room, and recognizes these when detecting the surrounding area with the aid of the sensor device. Advantageously, this variant can be applied to a large number of premises without having previously received specific information in detail about the subareas of the concretely used premises. Thus, with the help of this variant, a high degree of flexibility and a low preparation effort are achieved.

For example, in the medical device for certain categories, typical patterns of spatial structures can be stored, which are compared with the currently recorded spatial structures. With this embodiment, "unknown" premises, to which initially no map of the environment with categorized subareas, can be navigated automatically.

Automated pattern recognition can be improved, for example, with the aid of a previously performed training method. For example, individual patterns and structures and their assignment to specific functions can be carried out within the framework of an iterative learning process, for example based on a machine learning method. Advantageously, in this variant, the pattern recognition based on a large amount of training data can be made sufficiently robust, so that even in case of deviations from structures of certain model known patterns they can still be recognized and assigned to certain categories.

If the creation of a map of the surroundings during the use of the mobile medical device, so can at the same time individual Subsections of the recorded environment map a category depending on a determined spatial structure of the environment are assigned. Advantageously, based on the self-localization and the semantic environment model, it can be determined in which room or in which type of room of a building the medical device is currently located.

In addition to the sensor data from the mobile medical device, sensor data from stationary sensors can also be used to determine the relative position of the mobile medical device. The stationary sensors may, for example, be arranged distributed on possible travel paths of the mobile medical equipment, on the ceiling or on the floor and detect the movement and data for determining the position of the mobile medical device. In this way, the database for the self-localization and the determination of the position of the mobile medical device is increased and redundancies are created. For example, in the case that the sensors of the mobile medical device are covered by individual functional elements of the mobile medical device itself or by objects present in the room, this can allow correct localization and positioning.

If individual subregions are categorized on the basis of the semantic environment model, one or more possible target positions can be determined as candidate target positions for the mobile medical device based on the determined relative position and the environment map and displayed to the user for selection. From the candidate target positions, the user can then select a suitable target position for his tasks via a user interface, which is then automatically approached by the mobile medical device.

In order to make the approach of a target position as fast, easy and safe as possible, based on the determined relative position, the defined target position and the surroundings map, a travel path can be determined from the determined relative position or the absolute position determined therefrom to the specified target position. In the simplest case, the shortest path to the target position can be determined. Alternatively, other information such as the presence of bottlenecks or sources of danger may be used to establish an optimal route.

In addition, with the help of the semantic environment model non-passable subareas of one or more rooms can be determined and automatically bypassed in the control of the target position. Advantageously, areas in which there is an increased risk of collision are avoided by the medical device.

In order to avoid driving on areas that are not intended to be used on vehicles, it is also possible to mark in advance areas that are stuck to the floor by means of coding codes recognizable by the position detection unit in the system (eg as part of adhesive tape - "tape") Generally, medical devices may not be used on vehicles, or they may be preferred.

In order to obtain sensor data for scanning the environment of the medical device according to the invention, an optical sensor device can be used as the sensor device. Information from optical sensors usually have a high precision, can be easily used for geometric calculations and are therefore suitable for position determination.

In order to scan the surroundings of the mobile medical device, a camera system can be provided as the sensor device, which is designed to record a three-dimensional image of the surroundings of the mobile medical device. With the aid of the three-dimensional image, distances and structures can be detected in the premises traveled by the mobile medical device.

Alternatively or additionally, laser sensors, infrared systems or ultrasound systems can also be used as sensors.

Optionally, besides sensor systems / cameras operating on the mobile system, i. the mobile medical device are mounted, also data from stationary in the room mounted sensors / cameras are also used. Also, mobile sensors associated with a user (e.g., 3D depth camera glasses) could be included in the navigation / mapping by the mobile system.

In order to further reduce the risk of a collision of the mobile medical device, especially in narrow roads, the position of individual functional elements of the mobile medical device can be adjusted in dependence on a determined relative position of the mobile medical device relative to the scanned surrounding area. Alternatively or additionally, the pathfinding to target positions can be influenced by the current position of individual functional elements of the mobile medical device for collision avoidance. That is, only paths are driven to the target position, the one Have sufficient width for the current position of the functional elements of the mobile medical device. If the position of individual functional elements is changed, the current position and orientation of the functional elements is stored in the room. After reaching the target position, the stored position of the functional elements can then be reintroduced.

If the mobile medical device is a C-arm device, the collision avoidance or the pathfinding to stored positions is facilitated by a change in the position of the C-arm. Before changing the position of the C-arm, the current position of the C-arm is saved. For this purpose, additional sensors, such as angle encoders, also determine information about the current position of the "Cs". In other words, the vertical stroke, angulation and orbital angles are additionally recorded and included in the path calculation or position storage. Thus, path optimization for "space saving" system motion can be achieved if e.g. a C-arm angled at 90 ° must be maneuvered through a narrow passage. For this purpose, the C-arm can be rotated upright to obtain a smaller width of the system and to avoid a possible collision.

To improve the safety and reliability of the mobile medical device, driving the mobile medical device to a target position is monitored by a user pressing a consent button. Advantageously, erroneous automated starting of the mobile medical device by human monitoring can be prevented. Furthermore, the user has the opportunity to stop directly in front of obstacles to avoid collisions. If collisions are to be avoided completely automatically, the mobile medical device can be equipped with additional sensors. However, the enabling button does not necessarily have to be separate; for example, it can also be integrated in a suitably designed touchscreen with two redundant signal outputs.

Advantageously, the self-localization is constantly while driving the mobile medical device. In this way, a continuous monitoring of the driving behavior of the mobile medical device and the environment can be carried out, so that collisions can be avoided while driving even with a change in the environment. The position information determined thereby can be stored and additionally used for logging the workflow. The stored data can simply be archived for verification purposes. By connecting to a higher-level system, information can also be exchanged.

An adaptation of the stored positions, in particular of positions in the region of a patient, can be carried out by additional position-giving means. Stored positions can also be corrected while driving if more accurate information regarding the desired target position is available. For example, initially a target position stored in the mobile medical device can be approached. As soon as deviations from the stored target position become known, the target position is adjusted accordingly. Deviations can occur, for example, if additional sensor information is available with which the target position can be determined more accurately.

For ease of use, the mobile medical device may have as a user interface a display and input device, which is designed as a touch-sensitive screen. Such a touch-sensitive screen also has the advantage that it has no protruding discrete operating elements, such as e.g. Knobs or joysticks, gets along and therefore easy to clean or sterilize.

The invention will be explained in more detail below with reference to the accompanying figures with reference to embodiments. The same components are provided with identical reference numerals in the various figures.

Show it:

1 a schematic representation of the scanning of a room by a sensor device of a medical device according to the invention,

2 an area-based map of a room, based on a scan,

3 a schematic representation of a semantic environment model in the form of a tree structure,

4 a block diagram illustrating a medical device according to an embodiment of the invention, and

5 a flowchart illustrating a method for automated positioning of a mobile medical device according to an embodiment of the invention.

In 1 is a scenario 10 shown in which a space R from a sensor 42 one mobile medical device (see 4 ) is scanned by means of electromagnetic waves, in this specific embodiment, light waves S ,. Measurements are made with which the distances of the walls of a room R of a medical facility to the sensor 42 be determined in different directions. In the mobile medical device, an environment map UK (see 2 ), with which the determined distances can be compared and on the basis of which a position of the mobile medical device in the room R is determined. That is, the structures recorded in the map UK are using the sensor 42 recognized.

Furthermore, the environment map UK produces semantic information, i. Information regarding the functions and identifications of individual areas in the room. If the room structures are known in advance, the map UK can be specified directly. Alternatively, the area map UK can also be created by the mobile medical device itself. For this purpose simultaneous localization and mapping (SLAM) methods are used.

In 3 is a semantic environment model 300 illustrated schematically. The environment model categorizes individual areas of an area map UK according to their function. It comprises several levels in a tree structure in which a different degree of differentiation of semantics is achieved. In the top level, for example, is the entirety of accessible by a medical device premises 311 represents a hospital. In the lower level are individual rooms 321 . 322 . 323 represented by the hospital, which can be traveled by the mobile medical device. The individual rooms include a first operating room 321 , a corridor 322 and a second operating room 323 , In a third branch level are positions 331 . 332 . 335 . 336 . 339 which different tasks or work steps are assigned in the individual rooms. For example, a first position 331 for a first step in an operation in the first operating room 321 intended. That is, the first operation of the operation, for example, a pre-recording of the patient is performed at the first position. A second position 332 is a second step of an operation in the first operating room 321 assigned. Likewise, a fifth step in the first operating room 321 a fifth position 335 assigned. This defines different areas in a room that describe the positioning options for a mobile medical device.

As the hallway 322 with the exception of the function to allow the transport of persons and equipment between different premises, no specific functions, in particular no functions bound to a specific position, are the hallway 322 in the third level of the tree structure 300 no specific positions assigned.

Furthermore, positions of the third branch plane are also 336 . 339 includes which different steps in the second operating room 323 assigned.

The individual elements of the tree structure 300 Hierarchically different map areas are assigned to an area map. The map areas assigned to the individual elements are restricted to ever smaller areas as the branches are branched, so that an exact assignment of a position to a specific task area is possible, if one proceeds from the root of the tree structure 300 penetrates into ever higher branches or levels.

Is now based on sensor cards and the map UK a position of the mobile medical device in a room, such as the first operating room 321 , determined, the determined position of the semantic information stored in the semantic environment model of the respective position can be assigned to the determined position. Furthermore, all semantic information stored in the semantic environment model can also be assigned to the other positions in the room. On the basis of the determined spatiality, the knowledge of the work steps and the current work step to be performed within a workflow, the user can then be proposed via a control terminal preferred positions for the medical device. Such an operator terminal can be designed, for example, as a tablet computer with a touch screen, which is connected by means of a wired or wireless data connection to a control device of the mobile medical device.

For example, a preferred parking position or the position of an operating table may be space-specifically stored in the mobile medical device. In addition, certain areas that the mobile medical device is not allowed to drive automatically can also be stored. These may be, for example, areas where surgical personnel, for example an anesthetist, have their place of work, or areas where the risk of collision is too high. The representation of these positions and the interaction of the user with the system for the concrete selection and The approach to a position is then carried out by means of the display of the operator terminal. From the displayed suggestions can then be selected by the user, the desired target position of the mobile medical device. The selected position is subsequently automatically controlled by the mobile medical device.

Depending on the task can be controlled by the mobile medical device based on the semantic information and the environment map and the detected sensor data automatically or even autonomously a corresponding position alternatively. In this variant, for example, a stored in the mobile medical device workflow was selected. The positions associated with the workflow are then approached by the mobile medical device in sequence. In this variant, the operating medical staff only has to signal the mobile medical device when a work step has been completed. Thereafter, the mobile medical device moves autonomously to the next position for the next step.

In 4 is schematically a mobile medical device 40 shown according to an embodiment of the invention. The mobile medical device 40 , in this case a C-arm device, comprises a control device 41 , The control device 41 has a plurality of communication interfaces 41a for communication with different sensors 42 . 42a . 42b on. Furthermore, the control device comprises 41 also a position determination unit 41b for determining a relative position RPOS of the mobile medical device 40 relative to one with the sensors 42 sampled environment based on sensor data SD. In addition, the control device 41 another target position setting unit 41c on. With the help of the destination position determination unit 41c a target position ZPOS is determined.

For this purpose, for example, on the basis of an environment map with semantic information, individual subareas of the environment can be retrieved as destination position candidate K-ZPOS. Further criteria for selecting target position candidates K-ZPOS can be, for example, the current task of the mobile medical device 40 include. The destination position candidates K-ZPOS are then transmitted via a communication interface 41a to an operator terminal 44 transmitted. There, the destination position candidates are displayed on a screen and the user selects an appropriate destination position ZPOS and transmits it back to the destination position setting unit 41c , The selected target position ZPOS is then sent to a control unit 41d transmitted. The control unit 41d determined on the basis of the received target position ZPOS and the surrounding map UK a trajectory, which of the mobile medical device 40 to be driven. Based on the determined trajectory are from the control unit 41d Control commands SB to traction units 43 of the mobile medical device 40 transmitted. Conversely, by the traction units 43 Sensor data SD to the control unit 41d on the basis of which additional information regarding the position and the distance covered by the mobile medical device can be transmitted 40 be won. Also while driving the mobile medical device 40 are sensor data SD, SD1, SD2 from the sensors 42 . 42a . 42b of the mobile medical device 40 to the position detection unit 41b transmitted. The position determination unit 41b determines in turn information about the current relative position RPOS of the mobile medical device 40 and transmits them to the control unit 41d , Based on the current relative position RPOS and the specified target position ZPOS is from the control unit 41d If necessary, the determined trajectory is corrected and it becomes the traction units 43 controlled accordingly.

About the control terminal 44 In addition, control commands of the user can be entered, which are used in the control of the mobile medical device 40 be taken into account. For example, a holding command can be effected by releasing an enabling button, so that the medical device 40 is stopped immediately. In addition, optional additional sensors 42a for collision avoidance and sensors 42b for detecting the C-arm position of the mobile medical device 40 to be available. The from the additional sensors 42a . 42b detected sensor data SD1, SD2 are via a communication interface 41a to the control unit 41d transmitted. The control unit 41d learns from the sensors, for example, based on the sensor data SD1 42a for collision avoidance, whether an object in the area of the planned travel path of the mobile medical device 40 and therefore the determined trajectory must be changed to the target position ZPOS. The sensor data SD2 with respect to the C-arm position are also from the control unit 41d considered and compared with the map of the UK. If necessary, then the current C-arm position is stored and changed so that a passage through a bottleneck is possible. For this purpose, control commands SB to one or more actuators 45 for changing the position of the C-arm. Conversely, by the actuators 45 Sensor data SD to the control unit 41d on the basis of which information regarding the current position of the C-arm can be obtained. Having arrived at the target position ZPOS, the stored C-arm position is resumed, for example to perform an image acquisition.

In 5 is a flowchart 500 showing a method for automated positioning of a mobile medical device 40 (please refer 4 ) is illustrated. At the step 5.I First, a surrounding area R of the mobile medical device 40 scanned with the aid of a sensor device. The sensor data SD determined in this case are provided by the sensor device 42 detected. The following will be at the step 5.II a self-localization carried out. In this case, a relative position RPOS of the mobile medical device 40 relative to the sampled surrounding area R based on the sensor data SD. At the step 5.III On the basis of an environment map UK and the determined relative position RPOS and any additional information concerning the type of a planned work step, one or more target position candidates K-ZPOS are determined. The following will be at the step 5.IV an appropriate target position ZPOS set by a user. Subsequently, at the step 5.V set a travel path FW to the destination position ZPOS based on the environment map UK. Finally, at the step 5.VI the medical device 40 moved to the specified target position ZPOS.

The steps 5.I to 5.V form a closed loop. That is, the steps, such as the detection of the current position, are continuous while the mobile medical device 40 Towards the destination position ZPOS. This in 5 Thus, the flowchart shown is cyclic during operation and not just once.

It is finally pointed out once again that the medical devices and methods described above in detail are merely exemplary embodiments which can be modified by the person skilled in various ways without departing from the scope of the invention. Furthermore, the use of the indefinite article "on" or "one" does not exclude that the characteristics in question may also be present multiple times. Likewise, it is not excluded that illustrated as individual units elements of the present invention consist of several cooperating sub-components, which may optionally be spatially distributed.

Claims (15)

Method for automated positioning of a mobile medical device ( 40 ), comprising the steps: - acquiring sensor data (SD) from a surrounding area (R) of the mobile medical device ( 40 ) by means of a sensor device ( 42 Perform self-localization by determining a relative position (RPOS) of the mobile medical device (FIG. 40 relative to the scanned surrounding area (R) on the basis of the sensor data (SD), - defining a target location (ZPOS) based on an area map (UK) with semantic information regarding individual subregions of the area map (UK), - automated controlling of the mobile medical device ( 40 ) to the specified target position (ZPOS) on the basis of the determined relative position (RPOS) and the area map (UK). Method according to claim 1, wherein the environment map (UK) is created during the self-localization with the aid of the sensor data (SD). The method of claim 2, wherein the created map of the environment (UK) the semantic information using a semantic environment model ( 300 ), whereby individual subareas of the area map (UK) are categorized according to their function. Method according to claim 3, wherein the categorization of individual partial areas of the area map (UK) is carried out in advance manually by a user, wherein the user assigns functions to individual partial areas in the created area map (UK) depending on the structure and the position of the respective partial area and its prior knowledge , The method of claim 3, wherein the assignment of the semantic information is performed by reading machine-readable coding codes, which are arranged in the respective sub-areas to be categorized. The method of claim 3, wherein the categorization of individual sub-areas is carried out by an automated pattern recognition. The method of claim 6, wherein the automated pattern recognition is carried out by means of a previously performed training method. Method according to one of the preceding claims, wherein for determining the relative position (RPOS) of the mobile medical device ( 40 ) additional sensor data (SD) can be used by stationary sensors. Method according to one of the preceding claims, wherein on the basis of the determined relative position (RPOS) and the area map (UK) one or more possible target positions (K-ZPOS) for the medical device ( 40 ) and displayed to the user for selection. Method according to one of the preceding claims, wherein on the basis of the determined relative position, the specified target position (ZPOS) and the area map (UK), a travel path (FW) is determined from the determined relative position (RPOS) to the specified target position (ZPOS). A method according to claim 10, wherein on the basis of the area map (UK) and the determined travel path (FW) with the help of the semantic information non-passable portions of one or more rooms are determined and are automatically bypassed in the control of the target position (ZPOS). Method according to claim 10 or 11, wherein the position of individual functional elements of the mobile medical device ( 40 ) as a function of the determined relative position (RPOS) of the mobile medical device ( 40 ) and the travel path (FW) is adjusted. Method according to one of the preceding claims, wherein a release of the activation of a target position (ZPOS) by the mobile medical device ( 40 ) by pressing a consent button by a user. Mobile medical device ( 40 ), comprising: - a sensor device ( 42 ) for acquiring sensor data (SD) from a surrounding area (R) of the mobile medical device ( 40 ), - a position determination unit ( 41b ) for performing a self-localization by determining a relative position (RPOS) of the mobile medical device ( 40 ) relative to the sampled surrounding area (R) based on the sensor data (SD), - a target position setting unit ( 41c ) for determining a target position (ZPOS) on the basis of a regional map (UK) with semantic information regarding individual subareas of the area map (UK), - a control unit ( 41d ) for automated control of the mobile medical device ( 40 ) to the specified target position (ZPOS) on the basis of the determined relative position (RPOS) and the area map (UK). A computer program product comprising a computer program which is stored directly in a storage device of a mobile medical device ( 40 ), with program sections to carry out all the steps of the method according to one of claims 1 to 13, when the computer program in the mobile medical device ( 40 ) is performed. A computer-readable medium having program sections which are readable and executable by a computer unit stored thereon for performing all the steps of the method according to one of claims 1 to 13 when the program sections are executed by the computer unit.

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