Powered patient support apparatus
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.
1. A patient support apparatus comprising:
a base having a plurality of wheels;
a litter frame supported on the base;
a patient support deck supported on the litter frame, the 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 user input positioned adjacent a first end of the patient support apparatus;
a controller adapted to control the first and second motors based upon signals received from the user input whereby the first and second motors assist in moving and steering the patient support apparatus across a floor; and
a riding platform positioned adjacent the first end of the patient support apparatus, the riding platform built into the patient support apparatus itself and adapted to support a person while the person stands thereon and uses the user input.
2. The patient support apparatus of claim 1 wherein the riding platform is movable between a retracted position and an extended position.
3. The patient support apparatus of claim 2 wherein the riding platform is positioned within the base when the riding platform is in the retracted position.
4. The patient support apparatus of claim 2 wherein the riding platform is positioned above the base and beneath the litter frame when the riding platform is in the retracted position.
5. The patient support apparatus of claim 2 wherein the riding platform is positioned below the base and above the floor when the riding platform is in the retracted position.
6. The patient support apparatus of claim 1 wherein the riding platform is supported in a cantilevered manner on the base.
7. The patient support apparatus of claim 1 wherein the riding platform includes a wheel positioned thereunder and adapted to support the riding platform on the floor.
8. The patient support apparatus of claim 1 wherein the user input includes a force sensing system adapted to detect both a magnitude and direction of a force exerted by a user, and the controller is further adapted to control the first and second motors in a manner based upon the magnitude and direction of the force.
9. The patient support apparatus of claim 1 wherein the user input includes a plurality of load cells adapted to detect both a magnitude and direction of a horizontal component of force applied by a user to the patient support apparatus.
10. The patient support apparatus of claim 1 wherein the user input includes a handle and a force sensor adapted to detect a magnitude of force applied to the handle, wherein the controller uses the sensed magnitude of force applied to the handle to control at least the first motor.
11. The patient support apparatus of claim 10 further comprising an object sensor positioned on the patient support apparatus, wherein the controller is adapted to use signals received from the object sensor when controlling the first and second motors.
12. The patient support apparatus of claim 11 wherein the controller is further adapted to steer the steered wheel so as to avoid an object detected by the object sensor even if the person directs the patient support apparatus toward the object.
13. The patient support apparatus of claim 11 wherein the object sensor is at least one of a camera, an ultrasonic sensor, a laser range finder, or an infrared sensor.
14. The patient support apparatus of claim 1 wherein the patient support apparatus is one of a bed or a stretcher.
15. The patient support apparatus of claim 1 wherein the powered wheel and the steered wheel are the same wheel.
16. The patient support apparatus of claim 1 further comprising a third motor adapted to steer a second steered wheel, wherein the second steered wheel is located adjacent a back end of the patient support apparatus and the steered wheel is located adjacent a front end of the patient support apparatus.
17. The patient support apparatus of claim 8 further including:
a second steered wheel; and
a third motor adapted to steer the second steered wheel;
wherein the controller is adapted to control the third motor based upon information received from the force sensing system.
18. The patient support apparatus of claim 17 wherein the steered wheel and the second steered wheel are each located adjacent a corner of the base of the patient support apparatus.
19. The patient support apparatus of claim 17 wherein the controller is adapted to be able to steer the steered wheel and the second steered wheel such that the patient support apparatus may rotate about a center of rotation that is positioned outside of a footprint of the patient support apparatus.
20. The patient support apparatus of claim 1 wherein the steered wheel includes the powered wheel and a second powered wheel having an axis of rotation substantially coaxial with an axis of rotation of the powered wheel, whereby rotation of the powered wheel and the second powered wheel at different speeds imparts a rotational force on the patient support apparatus.