Powered patient support apparatus

• US 10,507,145 B2
• Filed: 11/10/2017
• Issued: 12/17/2019
• Est. Priority Date: 09/18/2012
• Status: Active Grant

• Current Assignee: Stryker Corporation
• Original Assignee: Stryker Corporation
• Inventors: DeLuca, Richard Thomas, Derenne, Richard A.
• Primary Examiner(s): Knutson, Jacob D
• Assistant Examiner(s): Arce, Marlon A
• Application Number:
  US15/809,350
• Publication Number:
  US 20180085264A1
• Time in Patent Office: 767 Days
• CPC Class Codes: A61G 1/0275 having driven wheels, e.g. motorised
• CPC Class Codes: A61G 1/0281 having a steering device
• CPC Class Codes: A61G 1/0287 having brakes, e.g. slowing down and/or holding details of brake actuators on castors B60B33/0078; brakes on hand carts B62B5/04; brakes in general F16D49/00 - F16D65/853
• CPC Class Codes: A61G 2203/32 for force
• CPC Class Codes: A61G 2203/40 for distance
• CPC Class Codes: A61G 7/012 raising or lowering of the whole mattress frame A61G7/005, A61G7/008 take precedence
• CPC Class Codes: A61G 7/018 Control or drive mechanisms
• CPC Class Codes: A61G 7/05 Parts, details or accessories of beds devices for prevention against falling out A47C21/08, A47D7/00 ; mattresses A47C27/00
• CPC Class Codes: A61G 7/0524 characterised by integrated accessories, e.g. bed control means, nurse call or reading lights
• CPC Class Codes: A61G 7/0528 Steering or braking devices for castor wheels
• CPC Class Codes: A61G 7/08 Apparatus for transporting beds
• CPC Class Codes: B62B 5/0033 Electric motors
• CPC Class Codes: B62D 51/04 the driver walking

Abstract

Powered patient support apparatuses—such as beds, cots, stretchers, or the like—include a plurality of user controls that allow a caregiver to control the steering and/or driving of one or more powered wheels from multiple different locations around the patient support apparatus (e.g. head end, foot end, and/or the sides). The control is carried out by force sensors that detect both an orientation of the applied forces and a magnitude of the applied forces. Translational and/or rotational movement is effectuated, depending upon the magnitude and direction of the forces, as well as the physical location of the applied force relative to a reference point on the support apparatus, such as the center. One or more object sensors may also be included in the support apparatus to assist in steering and/or navigating.

Claims

1. A patient support apparatus comprising:

a base having a plurality of wheels;

a patient support deck supported by said base, said patient support deck adapted to support a patient;

a first motor adapted to provide power to a powered wheel, the powered wheel being one of the plurality of wheels;

a second motor adapted to steer a steered wheel, the steered wheel being one of the plurality of wheels;

a sensor adapted to detect a person positioned off-board the patient support apparatus; and

a controller adapted to control a direction and speed of the patient support apparatus using the first and second motors, respectively, such that movement of the patient support apparatus across a floor matches walking movement of the person.

2. The patient support apparatus of claim 1 wherein the controller is adapted to follow the walking movement of the person when the person is walking behind the patient support apparatus.

3. The patient support apparatus of claim 1 wherein the controller is adapted to follow the walking movement of the person when the person is walking in front of the patient support apparatus.

4. The patient support apparatus of claim 1 wherein the sensor detects a distance between the patient support apparatus and the person, and the controller seeks to maintain the distance within a range of acceptable distances.

5. The patient support apparatus of claim 1 wherein the sensor detects a lateral position of the person with respect to an end of the patient support apparatus and the controller steers the patient support apparatus based upon the detected lateral position.

6. The patient support apparatus of claim 1 further comprising an RF ID reader adapted to read an RF ID tag wearable by the person, wherein the controller does not control movement of the patient support apparatus to match walking movement of the person if the RD ID reader does not detect the RF ID tag.

7. The patient support apparatus of claim 1 wherein the powered wheel and the steered wheel are the same wheel.

8. The patient support apparatus of claim 1 further comprising:

a user interface having a control for selecting between a hands-free mode and a hands-on mode; and

a handle for controlling a direction and speed of the patient support apparatus using the first and second motors, respectively, when the hands-on mode has been selected;

wherein the controller controls movement of the patient support apparatus to match the walking movement of the person only when the hands-free mode has been selected.

9. The patient support apparatus of claim 1 wherein the sensor is further adapted to detect a surface discontinuity on a floor on which the patient support apparatus is positioned, the sensor further adapted to detect a size of the surface discontinuity and a position of the surface discontinuity relative to the patient support apparatus;

and

wherein the controller is further adapted to lift at least one of the plurality of wheels of the patient support apparatus as the at least one of the plurality of wheels passes over the surface discontinuity.

10. The patient support apparatus of claim 9 wherein the sensor is a camera.

11. A patient support apparatus comprising:

a base having a plurality of wheels;

a patient support deck supported by said base, said patient support deck adapted to support a patient;

a first motor adapted to provide power to a powered wheel, the powered wheel being one of the plurality of wheels;

a second motor adapted to steer a steered wheel, the steered wheel being one of the plurality of wheels;

a sensor adapted to detect a surface discontinuity on a floor on which the patient support apparatus is positioned, the sensor further adapted to detect a size of the surface discontinuity and a position of the surface discontinuity relative to the patient support apparatus; and

a controller adapted to control a direction and speed of the patient support apparatus using the first and second motors, respectively, the controller further adapted to lift at least one of the plurality of wheels of the patient support apparatus as the at least one of the plurality of wheels passes over the surface discontinuity.

12. The patient support apparatus of claim 11 further comprising a force sensing system adapted to detect forces exerted by a user on the patient support apparatus, the controller adapted to steer the steered wheel and power the powered wheel in response to the exerted forces.

13. The patient support apparatus of claim 12 wherein the force sensing system is adapted to detect both a magnitude and a direction of a horizontal component of the exerted forces, and the controller is adapted to steer the steered wheel and power the powered wheel based upon the magnitude and direction of the exerted forces.

14. The patient support apparatus of claim 12 wherein the force sensing system includes a plurality of force sensors positioned at different locations on the patient support apparatus.

15. The patient support apparatus of claim 14 wherein the controller is adapted to steer the steered wheel and power the powered wheel based at least partially upon locations of the force sensors relative to a reference point on the patient support apparatus.

16. The patient support apparatus of claim 11 wherein the sensor is further adapted to detect a person positioned off-board the patient support apparatus, and the controller is further adapted to control a direction and speed of the patient support apparatus using the first and second motors, respectively, such that movement of the patient support apparatus across the floor matches walking movement of the person.

17. The patient support apparatus of claim 16 wherein the controller is adapted to perform at least one of the following:

(1) follow the walking movement of the person when the person is walking behind the patient support apparatus, and (2) follow the walking movement of the person when the person is walking in front of the patient support apparatus.

18. The patient support apparatus of claim 17 wherein the sensor detects a distance between the patient support apparatus and the person, and the controller seeks to maintain the distance within a range of acceptable distances.

19. The patient support apparatus of claim 18 wherein the sensor detects a lateral position of the person with respect to an end of the patient support apparatus and the controller steers the patient support apparatus based upon the detected lateral position.

20. The patient support apparatus of claim 11 wherein the surface discontinuity is an object positioned on the floor.