Automated systems, devices, and methods for transporting and supporting patients

• US 9,465,389 B2
• Filed: 11/10/2015
• Issued: 10/11/2016
• Est. Priority Date: 09/28/2012
• Status: Expired due to Fees

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Hyde, Roderick A., Malaska, Stephen L.
• Primary Examiner(s): CAMBY, RICHARD M
• Application Number:
  US14/936,991
• Publication Number:
  US 20160077524A1
• Time in Patent Office: 336 Days
• Field of Search: 701/23
• 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 5/04 motor-driven A61G5/06 takes precedence; motor-operated rests A61G5/12; for vehicles with handlebars, equipped with three or more wheels B62K5/003, B62K5/023
• 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 7/0527 Weighing devices
• 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: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

Systems, devices, and methods are described for moving a patient to and from various locations, care units, etc., within a care facility. For example a transport and support vehicle includes a body structure including a plurality of rotatable members operable to frictionally interface the vehicle to a travel path and to move the vehicle along the travel path, and a surface structured and dimensioned to support an individual subject. A transport and support vehicle can include, for example, an imager operably coupled to one or more of a power source, a steering assembly, one or more of the plurality of rotatable members, etc., and having one or more modules operable to control the power source, steering assembly, one or more of the plurality of rotatable members, etc., so as to maintain an authorized operator in the image zone.

Claims

1. A self-propelled operator-guided vehicle system, comprising:

a self-propelled operator-guided omnidirectional vehicle including a bedframe structure having a surface configured to support a patient, the bedframe structure including a plurality of rotatable members operable to frictionally interface the vehicle to a travel path and to move the vehicle along the travel path, and a navigation system configured to vary one or more of propulsion, braking, or steering angle of at least one of the plurality of rotatable members;

an operator-authorization device operably coupled to the transport assembly and having

one or more sensors operable to detect an operator-guide identification device associated with an operator-guide, and

a communication interface configured to acquire operator-guide verification information from the operator-guide identification device,

the operator-authorization device configured to

acquire information indicative of at least one of an operator-guide authorization status, an operator-guide identity, and an operator-guide reference physical movement information; and

generate one or more control commands for causing the transport assembly to maintain the self-propelled operator-guided vehicle at a target separation from the authorized operator-guide identification device based on the at least one of the operator-guide authorization status, the operator-guide identity, and the operator-guide reference physical movement information.

2. The self-propelled operator-guided vehicle system of claim 1, wherein the operator-authorization device is configured to acquire navigation plan information from the operator-guide identification device and to cause the generation of the one or more control commands for causing the transport assembly to maintain the self-propelled operator-guided vehicle at the target separation from the authorized operator-guide identification device based on the navigation plan information.

3. The self-propelled operator-guided vehicle system of claim 1, wherein the operator-authorization device includes a navigation module operably coupled to the one or more sensors and is configured to detect a location of the operator-guide identification device associated with the operator-guide.

4. The self-propelled operator-guided vehicle system of claim 1, wherein the operator-authorization include a navigation module operably coupled to the one or more sensors and is configured to determine a location of the operator-guide identification device relative to the self-propelled operator-guided vehicle.

5. The self-propelled operator-guided vehicle system of claim 1, wherein the operator-authorization device includes a navigation module operably coupled to the one or more sensors and is configured to generate one or more control commands for maintaining the self-propelled operator-guided vehicle at target separation from the operator-guide identification device responsive to a change of location of the operator-guide identification device relative to the self-propelled operator-guided vehicle.

6. The self-propelled operator-guided vehicle system of claim 1, wherein the operator-authorization device includes a navigation module operably coupled to the one or more sensors and is configured to generate one or more control commands for maintaining a velocity difference between the self-propelled operator-guided vehicle and the operator-guide identification device within a target range.

7. The self-propelled operator-guided vehicle system of claim 1, wherein the operator-authorization device is configured to generate route-to-destination information responsive to at least one of a velocity difference or a displacement of the operator-guide identification device relative to the self-propelled operator-guided vehicle.

8. The self-propelled operator-guided vehicle system of claim 1, wherein the operator-authorization device is configured to generate one or more control commands for controlling one or more of propulsion, braking, or steering responsive to movement of the operator-guide identification device.

9. The self-propelled operator-guided vehicle system of claim 1, wherein the operator-authorization device is configured to generate one or more control commands for controlling one or more of propulsion, braking, or steering responsive to movement of the operator-guide identification device responsive to a communication loss between the operator-guide identification device and the self-propelled operator-guided vehicle.

10. A self-propelled hospital bed navigation control system, comprising:

an operator-guided vehicle navigation controller including

one or more sensors operable to detect at least one human operator within an operator-guide zone associated with a self-propelled operator-guided omnidirectional hospital bed having

a bedframe structure including a surface configured to support an individual subject,

a plurality of rotatable members operable to frictionally interface the vehicle to a travel path and to move the vehicle along the travel path,

a steering assembly operable to vary a steering angle of at least one of the plurality of rotatable members,

a power source, and

a motor for driving one or more of the plurality of rotatable members; and

an operator movement mapping module operably coupled to the operator-guided vehicle navigation controller and to at least one of the plurality of rotatable members, the power source, and the motor;

the operator movement mapping module configured to

map one or more physical movements of the human operator within the operator-guide zone to at least one input correlated with one or more navigation control commands for controlling the self-propelled operator-guided omnidirectional hospital bed, and

generate a control signal to at least one of the plurality of rotatable members, the power source, and the motor to navigate the self-propelled operator-guided omnidirectional hospital bed based on the one or more navigation control commands.

11. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller is configured to detect the at least one human operator within an operator-guide zone located proximate the self-propelled hospital bed based on at least one measurand from the one or more sensors.

12. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller is configured to detect the at least one human operator within an operator-guide zone located in a front, a back, or a side portion of the self-propelled hospital bed based on at least one measurand from the one or more sensors.

13. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller is configured to detect the at least one human operator within an operator-guide zone located proximate a side portion of the self-propelled hospital bed based on at least one measurand from the one or more sensors.

14. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller includes one or more optical sensors operable to detect an optical authorization signal from an identification device associated with the at least one human operator.

15. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller includes one or more transducers operable to detect an acoustic authorization signal from an identification device associated with the at least one human operator.

16. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller includes one or more imagers operable to acquire an identification image of a human operator proximate the self-propelled hospital bed or of a badge associated with the at least one human operator and to generate authorization information based on the identification image.

17. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller is operably coupled to a device associated with the at least one human operator via an input-or-output port.

18. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller is operably connected to a physical coupling member associated with the at least one human operator via an input-or-output port, the operator-guided vehicle navigation controller including a verification module including circuitry operable to determine whether the physical coupling member associated with the at least one human operator corresponds to an authorized human operator.

19. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller includes a communication interface operable to initiating a discovery protocol that allows the operator-guided vehicle navigation controller and an identification device associated with the at least one human operator to identify each other and negotiate one or more pre-shared keys.

20. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller includes at least one a receiver, transmitter, and transceiver configured to detect an identification device associated with the at least one human operator.

21. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller includes one or more electromagnetic energy sensors that detect a wireless signal from an identification device associated with the at least one human operator.

22. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller includes one or more optical sensors configured to detect radiation reflected from one or more retro-reflector elements associated with the at least one human operator.

23. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller includes one or more optical sensors configured to detect radiation reflected from one or more retro-reflector elements along a travel path.

24. The self-propelled hospital bed navigation control system of claim 10, further comprising:

a fail-safe control system that physically couples the self-propelled hospital bed to the at least one human operator, the operator-guided vehicle navigation controller operable to activate a fail-safe protocol responsive to an indication that the self-propelled hospital bed and the at least one human operator are no longer physically coupled via the fail-safe control system.

25. The self-propelled hospital bed navigation control system of claim 10, wherein the operator-guided vehicle navigation controller further comprises:

a fail-safe control system operable to activate a fail-safe protocol when the at least one human operator is no longer detected.

26. The self-propelled hospital bed navigation control system of claim 10, further comprising:

an audio input recognition control device including one or more acoustic sensors operable to recognize speech input; and

to generate a transport route based on the speech input.

27. The self-propelled hospital bed navigation control system of claim 10, further comprising:

an audio-activated control module operable to receive an audio input and to correlate the audio input to at least one navigation control command for controlling at least one of propulsion, braking, and steering of the self-propelled hospital bed.

28. The self-propelled hospital bed navigation control system of claim 10, further comprising:

an audio control module operably coupled to the operator-guided vehicle navigation controller and configured to receive one or more voice command inputs from the human operator and to identify one or more potential matching symbols for the one or more voice commands.

29. The self-propelled hospital bed navigation control system of claim 28, wherein the potential one or more matching symbols include at least one navigation control command for controlling the self-propelled hospital bed.

30. The self-propelled hospital bed navigation control system of claim 28, wherein the potential one or more matching symbols include at least one navigation control command for controlling a destination of the self-propelled hospital bed.

31. The self-propelled hospital bed navigation control system of claim 28, wherein the potential one or more matching symbols include at least one navigation control command for controlling an orientation of the self-propelled hospital bed.

32. The self-propelled hospital bed navigation control system of claim 28, wherein the potential one or more matching symbols include at least one navigation control command for controlling at least one of propulsion, braking, and steering of the self-propelled hospital bed.

33. The self-propelled hospital bed navigation control system of claim 10, further comprising:

a navigation module including a global position system for detecting a geographical location of the self-propelled hospital bed.

34. The self-propelled hospital bed navigation control system of claim 10, further comprising:

an inertial navigation system operably coupled to the operator-guided vehicle navigation controller and including one or more motion sensors or rotation sensors, the operator-guided vehicle navigation controller configured to generate at least one of position information, orientation information, and velocity information based on one or more measurand outputs from the inertial navigation system.

35. The self-propelled hospital bed navigation control system of claim 10, further comprising:

a collision avoidance system operably coupled to the operator-guided vehicle navigation controller and including one or more sensors operable to detect a travel path condition, the operator-guided vehicle navigation controller configured to generate a control signal to at least one of the plurality of rotatable members, the power source, a braking mechanism, and the motor to navigate the self-propelled operator-guided omnidirectional hospital bed based on one or more measurand outputs from the collision avoidance system.

36. The self-propelled hospital bed navigation control system of claim 10, further comprising:

a collision avoidance system operably coupled to the operator-guided vehicle navigation controller and including one or more sensors operable to detect a travel path condition, the operator-guided vehicle navigation controller configured to generate a control signal to control at least one of propulsion, braking, and steering of the self-propelled operator-guided omnidirectional hospital bed based on one or more measurand outputs from the collision avoidance system.

37. The self-propelled hospital bed navigation control system of claim 10, further comprising:

one or more moment of inertia sensors operably coupled to the operator-guided vehicle navigation controller, the operator-guided vehicle navigation controller configured to generate one or more navigation control commands for controlling the self-propelled operator-guided omnidirectional hospital bed based on at least one measurand from the one or more moment of inertia sensors.

38. The self-propelled hospital bed navigation control system of claim 10, further comprising:

one or more weight sensors operably coupled to the operator-guided vehicle navigation controller, the operator-guided vehicle navigation controller configured to generate one or more navigation control commands for controlling the self-propelled operator-guided omnidirectional hospital bed based on at least one measurand from the one or more weight sensors.

39. The self-propelled hospital bed navigation control system of claim 10, wherein the operator movement mapping module includes circuitry configured to map one or more gestures of the human operator within the operator-guide zone to at least one input correlated with one or more navigation control commands for controlling the self-propelled operator-guided omnidirectional hospital bed, and to generate a control signal to at least one of the plurality of rotatable members, the power source, and the motor to navigate the self-propelled operator-guided omnidirectional hospital bed based on the one or more navigation control commands.

40. The self-propelled hospital bed navigation control system of claim 10, wherein the operator movement mapping module includes circuitry configured to map one or more physical movements of the human operator resulting in a change in separation distance of the human operator within the operator-guide zone from the bed, to at least one input correlated with one or more navigation control commands for controlling the self-propelled operator-guided omnidirectional hospital bed, and to generate a control signal to at least one of the plurality of rotatable members, the power source, and the motor to navigate the self-propelled operator-guided omnidirectional hospital bed based on the one or more navigation control commands.