Powered patient support apparatus

• US 9,259,369 B2
• Filed: 03/12/2013
• Issued: 02/16/2016
• Est. Priority Date: 09/18/2012
• Status: Active Grant

• Current Assignee: Stryker Corporation
• Original Assignee: Stryker Corporation
• Inventors: Derenne, Richard A., DeLuca, Richard Thomas, Newport, Thomas Joseph II, Patmore, Kevin Mark
• Primary Examiner(s): Boehler, Anne Marie
• Assistant Examiner(s): ARCE, MARLON ALEXANDER
• Application Number:
  US13/795,193
• Publication Number:
  US 20140076644A1
• Time in Patent Office: 1,071 Days
• Field of Search: 180 191- 193
• US Class Current: 1/1
• 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;

a powered wheel and a steerable wheel;

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 said powered wheel;

a second motor adapted to steer said steerable wheel;

a litter supported on said base, said litter adapted to support said patient support deck;

a force sensing system positioned to detect forces exerted in a generally horizontal orientation against said litter at both a first location and a second location, said force sensing system configured to determine both a magnitude and direction of any forces exerted against said litter at said first location and at said second location; and

a controller adapted to control said first and second motors based upon information received from said force sensing system, wherein said controller steers said steerable wheel and powers said powered wheel in a first manner that is based upon said magnitude and direction of forces applied at said first location, and wherein said controller steers said steerable wheel and powers said powered wheel in a second manner that is based upon said magnitude and direction of forces applied at said second location, said second manner being different from said first manner.

2. The apparatus of claim 1 wherein said powered wheel and said steerable wheel are the same wheel.

3. The apparatus of claim 1 further including a plurality of side rails, and wherein said force sensing system includes a plurality of force sensors mounted to said plurality of side rails.

4. The apparatus of claim 3 wherein said plurality of force sensors are adapted to determine both a magnitude and direction of force applied thereto, said controller adapted to steer said steerable wheel and power said powered wheel in a manner that is based upon said magnitude and direction.

5. The apparatus of claim 1 further including a plurality of height adjusting mechanisms positioned between said litter and said base, said height adjusting mechanisms adapted to change a height of the litter relative to said base;

and wherein said force sensing system includes a force sensor positioned at a junction of said litter and one of said height adjusting mechanisms.

6. The apparatus of claim 5 wherein said force sensing system includes a first force sensor positioned at a junction of said litter and a first of said height adjusting mechanisms, and a second force sensor positioned at a junction of said litter and a second of said height adjusting mechanisms.

7. The apparatus of claim 1 further including a plurality of height adjusting mechanisms positioned between said litter and said base, said height adjusting mechanisms adapted to change a height of the litter relative to said base;

and wherein said force sensing system includes a force sensor positioned at a junction of said base and one of said height adjusting mechanisms.

8. The apparatus of claim 1 further including a brake, wherein said controller senses whether said brake is turned on or off, and if said brake is turned on, said controller does not control said first and second motors based upon information from said force sensing system.

9. The apparatus of claim 1 wherein said steerable wheel includes said powered wheel and a second powered wheel having an axis of rotation substantially coaxial with an axis or rotation of said powered wheel, whereby rotation of said powered wheel and said second powered wheel at different speeds imparts a rotational force on said patient support apparatus.

10. The apparatus of claim 1 further including an object sensor positioned on said patient support apparatus, said controller further adapted to control said first and second motors based upon information received from said object sensor.

11. The apparatus of claim 1 wherein said patient support apparatus is one of a bed, stretcher, or cot.

12. A patient support apparatus comprising:

a base;

a powered wheel and a steerable wheel;

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 said powered wheel;

a second motor adapted to steer said steerable wheel;

a force sensing system adapted to detect forces exerted by a user, said force sensing system including a plurality of load cells positioned at a plurality of locations that are adapted to detect both a magnitude and a direction of a horizontal component of force applied by a user to said load cells; and

a controller adapted to control said first and second motors based upon the magnitude and direction of force applied by the user to the load cells, as well as the location of the load cells, whereby said controller steers the steerable wheel and powers the powered wheel in different manners when forces are applied at different ones of the locations.

13. The apparatus of claim 12 wherein said patient support apparatus is one of a bed, stretcher, or cot.

14. A patient support apparatus comprising:

a base;

a powered wheel and a steerable wheel;

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 said powered wheel;

a second motor adapted to steer said steerable wheel;

a force sensing system adapted to detect forces exerted by a user, said force sensing system including a first force sensor and a second force sensor, both said first force sensor and said second force sensor configured to detect horizontal forces applied to said patient support apparatus by a user; and

a controller adapted to control said first and second motors based upon information received from said force sensing system, said controller adapted to steer said steerable wheel based at least partially upon a difference between a force sensed by said first force sensor and a force sensed by said second force sensor.

15. The apparatus of claim 14 wherein the first force sensor is

adapted to detect both a direction and a magnitude of forces applied by the user from a first control location and the second force sensor is adapted to detect both a direction and a magnitude of forces applied by the user from a second control location, said first control location different from said second control location.

16. The apparatus of claim 15 wherein said controller steers the steerable wheel in a manner that amplifies how the patient support apparatus would turn if it were subjected to only the applied forces at either or both of the first and second control locations.

17. The apparatus of claim 15 wherein said patient support apparatus is one of a bed, stretcher, or cot.

18. A patient support apparatus comprising:

a base having a plurality of powered wheels and a plurality of steerable wheels;

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

a litter supported on said base, said litter adapted to support said patient support deck;

a first motor adapted to provide power to at least one of said powered wheels;

a second motor adapted to steer at least one of said steerable wheels;

a user input;

a controller adapted to control said first and second motors based upon information received from said user input whereby said first and second motors assist in moving and steering said patient support apparatus over a floor; and

a force sensor positioned to detect forces exerted in a generally horizontal orientation against said litter, said force sensor configured to determine both a magnitude and direction of any forces exerted against said litter, wherein said controller steers said steerable wheels and powers said powered wheels in a manner that is based upon said magnitude and direction, and wherein said controller is adapted to control said first and second motors in order to allow the patient support apparatus to be Ackermann steered.

19. The apparatus of claim 18 wherein said user input includes a force sensing system adapted to detect both a magnitude and direction of a force exerted by a user, and said controller is further adapted to control said first and said motors in a manner based upon said magnitude and direction of force.

20. The apparatus of claim 19 wherein said user input is mounted to a side of said patient support apparatus.

21. The apparatus of claim 19 wherein said force sensing system includes a plurality of force sensors mounted to a side rail.

22. The apparatus of claim 18 wherein said controller is adapted to be able to steer said steerable wheels such that said patient support apparatus rotates about a center of rotation that is positioned outside of a footprint of said patient support apparatus.

23. A patient support apparatus comprising:

a base;

a powered wheel and a steerable wheel;

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

a force sensing system adapted to detect both a direction and a magnitude of forces applied by a user, said force sensing system further adapted to determine a location on the patient support apparatus of the applied forces relative to a reference location on the patient support apparatus; and

a controller adapted to control said powered wheel and said steerable wheel in a manner that takes into account the magnitude, direction, and location of the applied forces relative to the reference location, including any torque produced by the applied forces with respect to the reference location, said controller also steering the steerable wheel in a manner that amplifies how the patient support apparatus would turn if it were subjected to only the applied forces.

24. The apparatus of claim 23 wherein the reference location is a center of gravity of said patient support apparatus.