Patient support apparatus with control system and method to avoid obstacles during reconfiguration

A patient support apparatus comprises a base and a patient support deck. The patient support deck comprises a back section capable of articulating relative to a seat section. A lift system lifts or lowers the patient support deck relative to the base. An articulation system articulates the back section relative to the seat section. Head end side rails are mounted to the back section to articulate with the back section. A controller controls operation of the lift system and/or the articulation system to prevent the head end side rails from colliding with obstacles, such as the floor surface.

BACKGROUND

Patient support apparatuses, such as hospital beds, stretchers, cots, tables, wheelchairs, and chairs facilitate care of patients in a health care setting. Conventional patient support apparatuses comprise a support structure having a patient support deck upon which the patient is supported, a lift system for lifting and lowering the patient support deck relative to the base, and an articulation system for articulating one or more sections of the patient support deck.

Sometimes, it is desirable for the lift system to move the patient support deck to a minimum height that eases ingress and egress of the patient or to a maximum height that eases access to patients or transport by caregivers. It is likewise desirable for the articulation system to move a back section to a fully lowered position that places a back of the patient in a generally flat position for sleeping or to a fully raised position that places the back of the patient upright for various purposes, such as eating, treatment, x-ray imaging, and the like. In some cases, when placing the patient support apparatus in such desirable configurations, obstacles can be encountered and can cause damage to the patient support apparatus or the obstacle.

A patient support apparatus is desired that addresses one or more of the aforementioned challenges.

DETAILED DESCRIPTION

Referring toFIG. 1, a patient support apparatus30is shown for supporting a patient in a health care setting. The patient support apparatus30illustrated inFIG. 1comprises a hospital bed. In other embodiments, however, the patient support apparatus30may comprise a stretcher, cot, table, wheelchair, chair, or similar apparatus utilized in the care of a patient.

A support structure32provides support for the patient. The support structure32illustrated inFIG. 1comprises a base34and a support frame36. The base34comprises a base frame35. The support frame36is spaced above the base frame35inFIG. 1. The support structure32also comprises a patient support deck38disposed on the support frame36. The patient support deck38comprises several sections, some of which are capable of articulating (e.g., pivoting) relative to the support frame36, such as a back (fowler) section41, a seat section43, a leg section45, and a foot section47. The patient support deck38provides a patient support surface42upon which the patient is supported.

A mattress49(shown in hidden lines inFIG. 2) is disposed on the patient support deck38during use. The mattress49comprises a secondary patient support surface upon which the patient is supported. The base34, support frame36, patient support deck38, and patient support surfaces42each have a head end and a foot end corresponding to designated placement of the patient's head and feet on the patient support apparatus30. The base34comprises a longitudinal axis L1along its length from the head end to the foot end. The base34also comprises a vertical axis V arranged crosswise (e.g., perpendicularly) to the longitudinal axis L1along which the support frame36is lifted and lowered relative to the base34. The construction of the support structure32may take on any known or conventional design, and is not limited to that specifically set forth above. In addition, the mattress may be omitted in certain embodiments, such that the patient rests directly on the patient support surface42.

Patient barriers, such as side rails44,46,48,50are coupled to the support frame36and/or patient support deck38and are thereby supported by the base34. A first side rail44is positioned at a right head end. A second side rail46is positioned at a right foot end. A third side rail48is positioned at a left head end. A fourth side rail50is positioned at a left foot end. In the embodiment shown, the head end side rails44,48are mounted to the back section41for movement with the back section41. The foot end side rails46,50are mounted to the support frame36for movement with the support frame36. If the patient support apparatus30is a stretcher or a cot, there may be fewer side rails. The side rails44,46,48,50are movable relative to the back section41/support frame36to a raised position in which they block ingress and egress into and out of the patient support apparatus30, one or more intermediate positions, and a lowered position in which they are not an obstacle to such ingress and egress. In the embodiment shown, the side rails44,46,48,50are connected to the back section41and/or the support frame36by pivotal support arms to form four bar linkages. Such side rails and the manner in which they may be raised/lowered are shown and described in U.S. Patent Application Pub. No. 2017/0172829, filed on Dec. 15, 2016 and entitled “Powered Side Rail For A Patient Support Apparatus,” hereby incorporated by reference in its entirety.

A headboard52and a footboard54are coupled to the support frame36. The headboard52and footboard54may be coupled to any location on the patient support apparatus30, such as the support frame36or the base34. In still other embodiments, the patient support apparatus30does not include the headboard52and/or the footboard54.

Caregiver interfaces56, such as handles, are shown integrated into the headboard52, footboard54, and side rails44,46,48,50to facilitate movement of the patient support apparatus30over a floor surface F. Additional caregiver interfaces56may be integrated into other components of the patient support apparatus30. The caregiver interfaces56are graspable by the caregiver to manipulate the patient support apparatus30for movement, to move the side rails44,46,48,50, and the like.

Other forms of the caregiver interface56are also contemplated. The caregiver interface may comprise one or more handles coupled to the support frame36. The caregiver interface may simply be a surface on the patient support apparatus30upon which the caregiver logically applies force to cause movement of the patient support apparatus30in one or more directions, also referred to as a push location. This may comprise one or more surfaces on the support frame36or base34. This could also comprise one or more surfaces on or adjacent to the headboard52, footboard54, and/or side rails44,46,48,50. In other embodiments, the caregiver interface may comprise separate handles for each hand of the caregiver. For example, the caregiver interface may comprise two handles.

Wheels58are coupled to the base34to facilitate transport over the floor surface F. The wheels58are arranged in each of four quadrants of the base34adjacent to corners of the base34. In the embodiment shown, the wheels58are caster wheels able to rotate and swivel relative to the support structure32during transport. Each of the wheels58forms part of a caster assembly60. Each caster assembly60is mounted to the base34. It should be understood that various configurations of the caster assemblies60are contemplated. In addition, in some embodiments, the wheels58are not caster wheels and may be non-steerable, steerable, non-powered, powered, or combinations thereof. Additional wheels are also contemplated. For example, the patient support apparatus30may comprise four non-powered, non-steerable wheels, along with one or more powered wheels. In some cases, the patient support apparatus30may not include any wheels.

In other embodiments, one or more auxiliary wheels (powered or non-powered), which are movable between stowed positions and deployed positions, may be coupled to the support structure32. In some cases, when these auxiliary wheels are located between caster assemblies60and contact the floor surface F in the deployed position, they cause two of the caster assemblies60to be lifted off the floor surface F thereby shortening a wheel base of the patient support apparatus30. A fifth wheel may also be arranged substantially in a center of the base34.

Referring toFIG. 2, the patient support apparatus30is shown with the side rails44,46,48,50removed for illustration purposes. The patient support apparatus30comprises a lift system70that operates to lift and lower the support frame36/patient support deck38relative to the base34. The lift system70is configured to move the support frame36/patient support deck38from a minimum height (shown inFIG. 3) to a maximum height (shown inFIG. 2), or to any desired position in between. One exemplary lift system70is described below and in U.S. patent application Ser. No. 15/439,541, filed on Feb. 22, 2017, entitled “Lift Assembly for Patient Support Apparatus,” hereby incorporated by reference herein in its entirety. Other types of lift systems can also be used, such as those described in U.S. Patent Application Publication No. 2016/0302985, filed on Apr. 20, 2016, entitled “Patient Support Lift Assembly,” hereby incorporated by reference herein in its entirety.

The exemplary lift system70described herein comprises head end and foot end lift members72,74. First and second lift actuators73,75move the lift members72,74to lift and lower the support frame36/patient support deck38relative to the base34. The first actuator73is coupled to the head end lift member72. The second actuator75is coupled to the foot end lift member74. The lift actuators73,75operate to pivot their respective lift member72,74about fixed upper pivot axes P to lift and lower the support frame36/patient support deck38relative to the base34, as described further below. The lift actuators73,75comprise linear actuators, rotary actuators, or other types of actuators. The lift actuators73,75may be electrically operated, electro-hydraulic, hydraulic, pneumatic, and the like. In the embodiment shown, the lift actuators73,75are electric, linear actuators.

In some embodiments, the lift members72,74comprise a pair of head end lift legs and a pair of foot end lift legs pivoted by the lift actuators73,75about the fixed upper pivot axes P. In other embodiments, each of the lift members72,74may comprise a single lift leg. In still other embodiments, other types of lift members capable of lifting and lowering the support frame36/patient support deck38may be employed. The lift members72,74may be identical in form or may have different forms. For instance, one of the lift members72,74may be a single lift leg, while the other of the lift members72,74may comprise part of a scissor-type mechanism. It should be appreciated that each of the lift members72,74may be formed in a unitary construction or may be separate pieces fastened together.

The lift members72,74comprise first end sections80,82movably coupled to the base34. In particular, the first end sections80,82are connected to guided bodies108that slide in head end and foot end guides100,102relative to the base34during lifting and lowering, i.e., when the lift actuators73,75pivot the lift members72,74about the fixed upper pivot axes P. In the embodiment shown, the first end sections80,82comprise first ends of the lift legs and a support member83,85interconnecting each pair of the lift legs, respectively, at their first ends. In the embodiment shown, the support members83,85are rigidly fixed to the lift legs to move with the lift legs. The support members83,85define a moving lower pivot axis PA about which the support members83,85pivot as the first end sections80,82slide relative to the base34. In other embodiments, the lift legs may pivot relative to the support members83,85.

The lift members72,74extend from the first end sections80,82to second end sections84,86. The second end sections84,86are pivotally connected to the support frame36at the fixed upper pivot axes P for pivoting relative to the support frame36. In the embodiment shown, the second end sections84,86comprise second ends of the lift legs. The fixed upper pivot axes P lie in a common plane perpendicular to the vertical direction when the support frame36/patient support deck38is at the minimum height or the maximum height.

The guides100,102are arranged to guide the movement of the first end sections80,82when the lift actuators73,75pivot the lift members72,74about the fixed upper pivot axes P to lift and lower the support frame36/patient support deck38relative to the base34. The head end guides100guide movement of the head end lift member72. The foot end guides102guide movement of the foot end lift member74. In the embodiment shown, four guides100,102are provided. The four guides100,102comprise a pair of head end guide tracks104and a pair of foot end guide tracks106. The guide tracks104,106are fixed to the base34and have a hollow, elongated shape. In particular, the guide tracks104,106are shown being formed of rectangular tubing. In other embodiments, the guides may assume other forms or shapes capable of guiding movement of the first end sections80,82of the lift members72,74.

The guided bodies108are rotatably coupled to the lift members72,74to rotate relative to the lift members72,74when sliding in the guides100,102. More specifically, the guided bodies108are rotatably connected at each end of the support members83,85to pivot about the lower pivot axes PA as the guided bodies108slide in the guide tracks104,106. The guided bodies108are captured in the guide tracks104,106to prevent withdrawal. In the embodiment shown, the guided bodies108comprise blocks and the guide tracks104,106comprise slide-bearing guide tracks in which the blocks slide. The blocks can be any shape, including box-shaped, spherical, cylindrical, or the like. In other embodiments, the guided bodies108comprise rollers, gears, or other movable elements. In further embodiments, the guide tracks104,106comprise racks and the guided bodies108comprise gears movable along the racks.

In the embodiment shown, each of the lift actuators73,75comprises a housing and a drive rod that extends and retracts relative to the housing to pivot the lift members72,74about their fixed upper pivot axes P. The lift actuators73,75have a housing end that is pivotally connected to the support frame36. The lift actuators73,75extend from the housing end to a rod end that is pivotally connected to the lift members72,74. The lift actuators73,75are pivotally connected to the support frame36and the lift members72,74at actuator mounts, such as fixed pivot brackets. The lift actuators73,75can be operated independently to place the support frame36in a Trendelenburg or reverse Trendelenburg position.

A timing link140is pivotally connected at a first end to one of the lift members72,74and pivotally connected at a second end to the base frame35. In particular, in the embodiment shown, two timing links140(seeFIG. 1) are pivotally connected to the base frame35to pivot about a pivot axis and are pivotally connected to the head end lift member72to pivot about another pivot axis. Additional timing links140could also be pivotally connected to the foot end lift member74in other embodiments.

The deck sections41,43,45,47are shown inFIG. 2in a configuration in which the back section41is raised above the support frame36, the seat section43is fixed to the support frame36(such as by welding, fasteners, or the like), the leg section45is raised above the support frame36, and the foot section47is elevated above the support frame36in a plane parallel to the second longitudinal axis L2.

The deck sections41,43,45,47are pivotally coupled together in series at pivot joints defined about pivot axes P1, P2, P3. Each of the deck sections41,43,45,47have a first end and a second end. The first end is closer to the head end of the patient support apparatus30when the patient support deck38is in a flat configuration and the second end is closer to the foot end of the patient support apparatus30when the patient support deck38is in the flat configuration. In the embodiment shown, the second end of the back section41is pivotally coupled to the first end of the seat section43about pivot axis P1. The first end of the leg section45is pivotally coupled to the second end of the seat section43about pivot axis P2. The first end of the foot section47is pivotally coupled to the second end of the leg section45about pivot axis P3.

The deck sections41,43,45,47may be pivotally coupled together by pivot pins, shafts, and the like at the pivot joints. Pivot brackets may be employed to form the pivot joints. Additionally, other types of connections are possible between the deck sections41,43,45,47so that the deck sections41,43,45,47are capable of moving, e.g., articulating, relative to one another. For instance, in some cases, translational joints may be provided between adjacent deck sections, or other compound movement connections may be provided between adjacent deck sections, such as joints that allow both pivotal and translational motion between adjacent deck sections. Further, in other cases, the back section41and the leg section45may be connected directly to the support frame36or other part of the support structure32for relative articulation, instead of being directly connected to the seat section43.

As shown by hidden lines, the deck sections41,43,45,47comprise deck panels41a,43a,45a,47a, removably coupled to deck section frames41b,43b,45b,47b. It should be appreciated that, in other embodiments, the deck sections41,43,45,47may comprise only the deck section frames41b,43b,45b,47bor only the deck panels41a,43a,45a,47a. The deck panels41a,43a,45a,47amay be plastic panels that snap fit or are otherwise capable of being easily removed from the deck section frames41b,43b,45b,47bfor cleaning, etc. The deck panels41a,43,45a,47a, could also be formed of other materials and may be permanently affixed to the deck sections frames41b,43b,45b,47b. Each of the deck section frames41b,43b,45b,47bmay be formed of metal and comprise structural members (e.g., metal bars and tubes) welded together to form a support framework. The deck sections frames41b,43b,45b,47bcould also be formed of other materials and comprise only single members, such as a single panel, frame, or other type of support structure.

A support link62extends between the support frame36and the foot section47to support the foot section47. The support link62is arranged to support the second end of the foot section47with respect to the support frame36. The support link62has a first link end pivotally coupled to the second end of the foot section47about pivot axis P4. The support link62extends from the first link end to a second link end pivotally and slidably coupled to the support frame36. In the embodiment shown, the support link62comprises a pair of spaced apart support arms64. In other embodiments, the support link62may comprise only a single support arm, or other type of support member (or members) that support the second end of the foot section47with respect to the support frame36. Prop rods or other types of support links could also be employed.

An articulation system150comprises articulation actuators152,154,156operable to move the back section41, leg section45, and foot section47. The articulation actuators152,154,156may be linear actuators, rotary actuators, or other type of actuators capable of moving the back section41, leg section45, and foot section47. The articulation actuators152,154,156may be electrically powered, hydraulic, electro-hydraulic, pneumatic, or the like. In the embodiment shown, the articulation actuators152,154,156are electrically powered linear actuators comprising actuator housings and drive rods that extend and retract with respect to their associated actuator housing. Hereinafter, the articulation actuators152,154,156may be referred to as back section actuator152, leg section actuator154, and foot section actuator156.

The back section actuator152is operatively connected to the back section41to pivot, or otherwise articulate, the back section41relative to the support frame36between a fully lowered position and one or more raised positions. More specifically, the back section actuator152pivots the back section41about pivot axis P1relative to the seat section43. In the embodiment shown, the back section actuator152is pivotally connected at a first actuator end to a mounting bracket fixed to the support frame36. The back section actuator152is pivotally connected at a second actuator end to a mounting bracket fixed to the back section41. The back section actuator152could be pivotally connected to these brackets via pivot pins, shafts, and the like. In other embodiments, the back section actuator80may be connected through other types of connections or linkages in order to move the back section41to the fully lowered position or the one or more raised positions.

The leg section actuator154is operatively connected to the leg section45to pivot, or otherwise articulate, the leg section45relative to the support frame36between a fully lowered position and one or more raised positions. More specifically, the leg section actuator154pivots the leg section45about pivot axis P2relative to the seat section43. Owing to the pivotal coupling of the second end of the leg section45to the first end of the foot section47, when the leg section45is moved, the first end of the foot section47is also moved. In the embodiment shown, the leg section actuator154is pivotally connected at a first actuator end to a mounting bracket fixed to the support frame36. The leg section actuator154is pivotally connected at a second actuator end to a mounting bracket fixed to the leg section45. The leg section actuator154could be pivotally connected to these brackets via pivot pins, shafts, and the like. In other embodiments, the leg section actuator154may be connected through other types of connections or linkages in order to move the leg section45to the fully lowered position or the one or more raised positions.

The foot section actuator156is operatively connected to the support link62to move, e.g., articulate, the support link62relative to the foot section47. Movement of the support link62causes the foot section47to pivot, or otherwise articulate, relative to the leg section45between different foot section positions. In the embodiment shown, the foot section actuator156is pivotally connected at a first actuator end to a mounting bracket fixed to the foot section47. The foot section actuator156is pivotally connected at a second actuator end to a mounting bracket fixed to the support link62. The foot section actuator156could be pivotally connected to these brackets via pivot pins, shafts, and the like. In other embodiments, the foot section actuator156may be connected to the foot section47or the support link62through other types of connections or linkages.

A control system is provided to control operation of the actuators73,75,152,154,156. The control system comprises a controller200(seeFIG. 2) having one or more microprocessors, microcontrollers, field programmable gate arrays, systems on a chip, discrete circuitry, and/or other suitable hardware, software, or firmware that is capable of carrying out the functions described herein. The controller200may be carried on-board the patient support apparatus30, or may be remotely located. In one embodiment, the controller200is mounted to the base34. In other embodiments, the controller200is mounted to the footboard54. Power to the actuators73,75,152,154,156and/or the controller200may be provided by a battery power supply and/or an external power source. The controller200is coupled to the actuators73,75,152,154,156in a manner that allows the controller200to control the actuators73,75,152,154,156(connections shown schematically inFIG. 2). The controller200may communicate with the actuators73,75,152,154,156via wired or wireless connections to perform one of more desired functions.

The controller200is configured to process instructions or to process an algorithm stored in memory to control operation of the lift actuators73,75to coordinate movement of the lift actuators73,75and evenly lift and lower the support frame36relative to the base34or to independently operate the lift actuators73,75to place the support frame36in the Trendelenburg or reverse Trendelenburg positions. The controller200also controls operation of the articulation actuators152,154,156to articulate the deck sections41,45,47sequentially, simultaneously, and/or in a coordinated manner with the lift actuators73,75.

The controller200may monitor a current state of the actuators73,75,152,154,156and determine desired states in which the actuators73,75,152,154,156should be placed, based on one or more input signals that the controller200receives from one or more input devices, such as from a sensor system comprising sensors S integrated into the actuators73,75,152,154,156. The state of the actuators73,75,152,154,156may be a position, a relative position, an angle, an energization status (e.g., on/off), or any other parameter of the actuators73,75,152,154,156. The sensors S also provide input to the controller200associated with various states of the patient support apparatus30. For instance, a sensor S fixed to the back section41may be used to determine a state of the back section41(e.g., an angle θ inFIG. 2relative to the support frame36, relative to the base34, relative to gravity, relative to the floor surface F, or the like). A sensor S integrated into the back section actuator152could likewise determine the state of the back section41(e.g., angle θ) by virtue of measuring extension/retraction of the drive rod from the housing, measuring rotations of a motor used in the back section actuator152, etc. Another sensor S may be fixed to the support frame36to determine a state of the support frame36/patient support deck38(e.g., an inclination of the support frame36, a height of the support frame36/patient support deck38from the floor surface F, and the like). The sensors S may comprise potentiometers, optical sensors, hall-effect sensors, encoders, accelerometers, gyroscopes, inclinometers, etc.

The user, such as a caregiver, may actuate a user input device I (seeFIG. 2), which transmits a corresponding input signal to the controller200, and the controller200controls operation of the actuators73,75,152,154,156based on the input signal. The user input devices I may comprise any device capable of being actuated by the user. The user input devices I may be configured to be actuated in a variety of different ways, including but not limited to, mechanical actuation (hand, foot, finger, etc.), hands-free actuation (voice, foot, etc.), and the like. The user input devices I may comprise buttons, such as separate buttons corresponding to lift, lower, Trendelenburg, reverse Trendelenburg, raise back section41, lower back section41, raise leg section45, lower leg section45, raise foot section47, lower foot section47, etc.

The user input devices I may also comprise a gesture sensing device for monitoring motion of hands, feet, or other body parts of the user (such as through a camera), a microphone for receiving voice activation commands, a foot pedal, and a sensor (e.g., infrared sensor such as a light bar or light beam to sense a user's body part, ultrasonic sensor, etc.). Additionally, the buttons/pedals can be physical buttons/pedals or virtually implemented buttons/pedals such as through optical projection or on a touchscreen. The buttons/pedals may also be mechanically connected or drive-by-wire type buttons/pedals where a user applied force actuates a sensor, such as a switch or potentiometer. It should be appreciated that any combination of user input devices I may also be utilized. The user input devices I may be located on one of the side rails44,46,48,50, the headboard52, the footboard54, or other suitable locations. The user input devices I may also be located on a portable electronic device (e.g., iWatch®, iPhone®, iPad®, or similar electronic devices).

During operation, when a user wishes to lift/lower the support frame36/patient support deck38relative to the base34or to move one of the deck sections41,45,47, the user actuates one or more of the user input devices I. For instance, in the event the user wishes to lower the support frame36relative to the base34, such as moving the support frame36from the position shown inFIG. 2to the position shown inFIG. 3, the user actuates the appropriate user input device I. Upon actuation, the controller200sends output signals to the lift actuators73,75to cause operation of the lift actuators73,75in a manner that causes the support frame36to lower. In the embodiment shown, this includes both of the lift actuators73,75being commanded by the controller200to retract their associated drive rods into their housings. As a result, owing to the pivotal connection of the rod ends to the lift members72,74, each of the lift members72,74pivots about their respective fixed upper pivot axis P so that the first end sections80,82of the lift members72,74begin to move away from one another while being guided by the guides100,102.

In the event the user wishes to raise or lower the back section41relative to the seat section43, such as moving the back section41from the position shown inFIG. 3to the position shown inFIG. 4, the user actuates the appropriate user input device I. Upon actuation, the controller200sends output signals to the back section actuator152to cause operation of the back section actuator152in a manner that causes the back section41to be raised. In the embodiment shown, this includes the back section actuator152being commanded by the controller200to extend the associated drive rod from the housing. As a result, the back section41articulates (e.g., pivots) about pivot axis P1relative to the seat section43and the support frame36.

Referring specifically toFIGS. 3 and 4, during operation of one or more of the actuators73,75,152,154,156, there is a possibility that, owing to the size and shape of the head end side rails44,48, outer portions202of the head end side rails44,48could impact the floor surface F. More specifically, in the case where the lift system70has moved the support frame36/patient support deck38to the minimum height, i.e., a low height position, subsequent articulation of the back section41relative to the support frame36could result in the outer portions202contacting the floor surface F or other obstacles (e.g., feet, objects, etc.) located between the outer portions202and the floor surface F. See the hidden lines inFIG. 4that illustrate how the outer portions202would strike the floor surface F when the support frame36/patient support deck38are at their minimum height, i.e., low height position, if the back section41was allowed to articulate upwardly without also moving from the low height position. The position of the back section41and the height of the support frame36/patient support deck38could be detected/determined by any of the sensors S previously described or by other methods. For instance, the position of the back section41or the height of the support frame36/patient support deck38, may be directly measured, inferred from measurements of sensors S integrated into the actuators73,75,152or correlated to other sensor measurements.

Referring toFIG. 4, since the outer portions202would otherwise strike the floor surface F, the controller200acts to provide automated movement or limits movement to prevent collisions. In one case, the controller200may operate the lift system70in an automated manner to lift the support frame36/patient support deck38relative to the base34in response to the back section actuator152being operated by a user to articulate the back section41. This automated movement is provided so that the outer portion202of the side rail44remains spaced from the floor surface F by a gap G. As shown, for instance, the controller200is configured to operate the lift system70in an automated manner to lift the support frame36/patient support deck38relative to the base34toward their maximum height in response to the back section actuator152being operated by the user to articulate a head end of the back section41upwardly while the support frame36/patient support deck38is at the minimum height, or any other height in which contact with the floor surface F and/or failure to maintain the gap G is possible.

This automated movement may occur, for example, when the sensor system detects that the back section41has been articulated to an acute angle θ of at least 30, 40, 50, 60, or 70 degrees, when the user is raising the back section41so that the acute angle θ falls between 60 and 90 degrees, or in response to reaching some other threshold. In the embodiment shown, the greater the acute angle θ, the greater the likelihood that lifting of the support frame36/patient support deck38toward the maximum height is needed to avoid contact of the outer portions202with the floor surface F and/or to maintain the gap G.

In some instances, this automated movement may additionally or alternatively comprise the controller200automatically moving (e.g., raising/translating/articulating) the side rail44to avoid hitting the floor surface F or other obstacles. For instance, the side rail44may be powered by electric actuators such that the controller200is able to raise, lower, translate, and/or articulate the side rail44relative to the support frame36/patient support deck38. Such a powered side rail is shown and described in U.S. Patent Application Pub. No. 2017/0172829, filed on Dec. 15, 2016 and entitled “Powered Side Rail For A Patient Support Apparatus,” hereby incorporated by reference herein in its entirety.

In some instances, the back section41/side rail44may be able to fully articulate without concern for hitting the floor surface F or other obstacles. For example, the controller200may be configured to enable operation of the back section actuator152to articulate the back section41relative to the support frame36in a full range of movement when the support frame36/patient support deck38is at the maximum height, or any other height above the minimum height in which contact with the floor surface F can be avoided and/or the gap G can be maintained, regardless of articulation of the back section41.

Alternatively, or additionally, in situations in which the support frame36/patient support deck38are already elevated above the minimum height, the controller200may operate the back section actuator152in an automated manner to articulate the back section41downwardly in response to the lift system70being operated to lower the support frame36/patient support deck38. This automated movement is provided so that the outer portion202of the side rail44remains spaced from the floor surface F. For instance, the controller200may be configured to operate the back section actuator152in an automated manner to articulate a head end of the back section41downwardly toward the fully lowered position in response to the lift system70being operated by the user to lower the support frame36/patient support deck38while the back section41is at the fully raised position, or any other position above the fully lowered position in which contact with the floor surface F and/or failure to maintain the gap G is possible.

This automated movement may occur, for example, when the sensor system detects that the support frame36/patient support deck38has been lowered to a height H of less than 20, 15, 10, 8, or 5 inches from the floor surface F, or has reached some other height-related threshold. In the embodiment shown, the lower the height H, the greater the likelihood that articulation of the back section41toward the fully lowered position is needed to avoid contact of the outer portions202with the floor surface F and/or to maintain the gap G. In some instances, this automated movement may additionally or alternatively comprise the controller200automatically moving (e.g., raising/translating/articulating) the side rail44to avoid hitting the floor surface F or other obstacles as previously described.

In some instances, the lift system70may be able to fully lift/lower the support frame36/patient support deck38without concern for hitting the floor surface F or other obstacles. For example, the controller200may be configured to enable operation of the lift system70to lift or lower the support frame36/patient support deck38relative to the base34in a full range of movement when the back section41is in the fully lowered position, or any other position below the fully raised position in which contact with the floor surface F can be avoided and/or the gap G can be maintained, regardless of the height of the support frame36/patient support deck38.

In another example, the controller200may limit operation of the lift system70to lower the support frame36/patient support deck38relative to the base34based on a position of the back section41/side rail44so that the outer portion202of the side rail44remains spaced from the floor surface F. More specifically, the controller200may be configured to limit operation of the lift system70to lower the support frame36/patient support deck38when the back section41/side rail44is at the fully raised position or any other position above the fully lowered position in which contact with the floor surface F or failure to maintain the gap G is possible upon lowering of the support frame36/patient support deck38.

Alternatively, or additionally, the controller200may limit operation of the back section actuator152to articulate the back section41/side rail44based on the height H of the support frame36/patient support deck38so that the outer portion202of the side rail44remains spaced from the floor surface F. More specifically, the controller200may be configured to limit operation of the back section actuator152to articulate the head end of the back section41/side rail44upwardly when the support frame36/patient support deck38is at the minimum height or any other height in which contact with the floor surface F or failure to maintain the gap G is possible upon articulating the head end of the back section41/side rail44upwardly.

Referring toFIG. 6, an exemplary method of controlling operation of the lift system70and/or the articulation system150is shown. In step300, the method starts by first detecting that a collision event is possible. This may comprise detecting that the user is lowering the support frame36/patient support deck38while the back section41/side rail44is at a position susceptible to possible collision, detecting that the user is raising the back section41/side rail44when the support frame36/patient support deck38is at a height in which the side rail44is susceptible to possible collision, or the like. Once the possibility of a collision is detected by the controller200, the method continues to at least one of four actions302,304,306,308based on the situation. In step302, the controller200automatically operates the lift system70to lift the support frame36/patient support deck38. In step304, the controller200automatically operates the back section actuator152to articulate the back section41/side rail44(e.g., toward the fully lowered position). In step306, the controller200automatically sets a limit on operation of the lift system70to prevent the user from lowering the support frame36/patient support deck38to a height/position in which a collision could occur. In step308, the controller200automatically sets a limit on operation of the articulation system150to prevent the user from raising the back section41/side rail44to a position in which a collision could occur.

Ultimately, in the embodiments shown, the control system described herein is employed to avoid collisions of the head end side rails44,48with obstacles, such as the floor surface F. The control system and methodology described herein could likewise be employed on any of the side rails44,46,48,50, other articulating components of the patient support apparatus30, or any other components of the patient support apparatus30.

It will be further appreciated that the terms “include,” “includes,” and “including” have the same meaning as the terms “comprise,” “comprises,” and “comprising.”