Transfer assistance apparatus and apparatus

Abstract

A device for assisting a patient includes a base, a first stage member, an adapter member, and three or more attachment members. The first stage member is coupled to the base at a coupling end, and the first stage member extends along a longitudinal axis from the coupling end to a shoulder. The adapter member is an elongated member that sets a first axis. The adapter member is coupled to the shoulder, and the first axis extends laterally relative to the first stage member. The three or more attachment members are coupled to the adapter member and are extendable to project radially from the adapter member. Each of the three or more attachment members may be attached to the carrier by a respective plurality of attachment elements. The three or more attachment elements and the adapter member may collectively rotate about the first axis as a rigid body.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority to Singapore Patent Application No. 10202250455R filed on July 13, 2022, the contents of which are incorporated herein by reference in their entirety. Technical Field

[0002] The present application relates to an assistive device suitable for use in transferring patients. More specifically, the present application relates to a device that can be used to hoist, translate and / or lower a person with limited mobility. Background Art

[0003] Transferring an immobile patient to and from a wheelchair or bed has been ranked as one of the most physically challenging tasks a caregiver performs. This is particularly true in situations requiring "maximum assisted transfers," i.e., when the patient has limited ability to stabilize his or her upper body, and often does not have sufficient leg strength to support his or her own weight. Even when conventional devices are used, at least two caregivers are required, e.g., one to operate the device and another to stabilize the patient. Summary of the invention

[0004] On the one hand, the present application discloses a device for assisting a patient. The device includes: a base, a first-level component, a transition component, and three or more attachment components. The first-level component is coupled to the base at a coupling end, and the first-level component extends from the coupling end to a shoulder along a longitudinal axis. The transition component is an elongated component that sets a first axis. The transition component is coupled to the shoulder, wherein the first axis extends transversely relative to the first-level component. The three or more attachment components are coupled to the transition component and are extendable to extend radially from the transition component. Each attachment component of the three or more attachment components can be attached to a supporting portion by a corresponding plurality of attachment elements. The three or more attachment elements and the transition component together act as a rigid body and can rotate about the first axis.

[0005] Preferably, at least three of the three or more attachment members are distributed along the first axis. Optionally, four of the three or more attachment members are distributed in pairs in a mirror-symmetrical manner about the midplane of the transition member. Preferably, the three or more attachment members are coupled to the transition member and biased toward an extended position, the extended position of any one of the three or more attachment members being a position in which one of the three or more attachment members radially extends from the transition member. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Various embodiments of the present disclosure will be described with reference to the following drawings:

[0007] Figure 1 is an exploded view of a device according to an embodiment of the present disclosure;

[0008] Figure 2 yes Figure 1 a perspective view of an interface member and a plurality of attachment members of the illustrated apparatus;

[0009] Figure 3 yes Figure 2 a side view of the illustrated adapter member and the plurality of attachment members;

[0010] Figure 4 is a schematic perspective view of a device according to an embodiment of the present disclosure;

[0011] Figure 5 yes Figure 4 a side view of the device shown;

[0012] Figure 6 is a perspective view of a supporting portion according to an embodiment;

[0013] Figure 7 yes Figure 6 A side view of the supporting portion shown;

[0014] Figure 8 and Fig. 9 is a perspective view of an apparatus in operation according to another embodiment;

[0015] Fig.10 is a perspective front view of the device;

[0016] Fig.11 yes Fig.10 Side view of

[0017] Fig.12 yes Fig.10 a perspective rear view of the device shown;

[0018] FIG. 13A to FIG. 13H It is a perspective view of the transfer process;

[0019] Fig.14 is a perspective view of a device in operation according to another embodiment of the present disclosure; and

[0020] Fig.15 yes Fig.14 A perspective view of the device shown. Detailed Description

[0021] The following detailed description is made with reference to the accompanying drawings, which show details and embodiments of the present disclosure for illustrative purposes. Features described in the context of one embodiment may be correspondingly applicable to the same or similar features in other embodiments, even if not explicitly described in these other embodiments. Additions and / or combinations and / or substitutions described for features in the context of one embodiment may be correspondingly applicable to the same or similar features in other embodiments.

[0022] In the context of various embodiments, the articles “a,” “an,” and “said” used with respect to a feature or element include reference to one or more features or elements.

[0023] In the context of various embodiments, the term "about" or "approximately" as applied to numerical values ​​encompasses both the exact value and a reasonable difference commonly understood in the relevant technical field, such as within 10% of the specified value.

[0024] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0025] As used herein, "including" means including, but not limited to, whatever follows the word "including." Thus, the use of the term "including" indicates that the listed elements are required or mandatory, but other elements are optional and may or may not be present.

[0026] As used herein, “consisting of is meant to include and be limited to whatever is between the phrase “consisting of.” Thus, use of the phrase “consisting of” indicates that the listed elements are required or mandatory, and that no other elements are present.

[0027] Various embodiments of the present disclosure are described in detail below with reference to the accompanying drawings to help understanding.

[0028] Figure 1 and Figure 2A transfer device 200 of an embodiment of the present disclosure is schematically shown, wherein the device 200 can be used to transfer a patient between two support surfaces. The term "support surface" refers to a surface that can support the weight of a person or patient, such as a bed, a mattress, a wheelchair seat, a car seat, etc. One of the multiple support surfaces can be a mobile device, including but not limited to a wheelchair or other auxiliary mobile device, which is intended to be pushed by a person and / or driven by electricity for user-controlled travel and / or automatic travel. More specifically, embodiments of the device are beneficial for transferring a patient between a lying (lying flat) position and a sitting position, such as a maximum assisted transfer between a bed and a wheelchair (e.g., partially relying on maximum assistance or completely relying on maximum assistance). It will be understood that although the various embodiments of the device 200 and the device 100 are described with respect to maximum assisted transfer, the various embodiments of the device 200 and the device 100 can also be used to assist people who only need moderate assisted transfer.

[0029] The device 200 can be integrated with the base 110. Alternatively, the device 200 can be configured as a modular unit and configured to be interchangeably attached / detached from an existing base 110 by a user, such as a caregiver. The device 200 includes a first level member 210. In the illustrated embodiment, the first level member 210 includes a coupling end 212 that can be coupled to the base 110. In this embodiment, a second level member 215 extends laterally from an upper end of the first level member 210. The first level member 210 and the second level member 215 can be adapted from a robotic arm. The second level member 215 can be articulated relative to the first level member 210 by an actuator. Embodiments provide a linear actuator 219 to rotate the second stage member 215 relative to the first stage member 210 about the shoulder 218 so that the distal end 216a (the distal end 216a and the joint portion 216b may also be collectively referred to as the elbow 216) of the second stage member 215 can be positioned at different elevations / heights relative to the base 110. The mechanism of the second stage member 215 ensures that the distal end 216a and any member coupled to the distal end 216 (e.g., the joint member 216b, the transition member 220, etc.) are always parallel at any elevation / height relative to the base 110. In the event of a malfunction, the second stage member 215 will remain stationary relative to the first stage member 210 to prevent the suspended patient from falling from the device 200. For example, in the event of a sudden power failure during use of the device 200, the second stage member 215 will remain stationary or locked in a stationary position relative to the base 110, and the transition member 220 will remain parallel and stationary relative to the base 110. Thus, the patient remains safely suspended and supported in a stationary position relative to the base 110 by the device 200. In another example, if a caregiver assisting with the patient transfer unexpectedly loses control of the patient, the device 200 itself is sufficient to keep the patient safely supported. Beneficially, the patient suspended by the device 200 does not swing or rotate uncontrollably without a caregiver assisting with the transfer process.

[0030] The transition member 220 can be coupled to the second stage member 215 at the elbow 216. The transition member 220 can be configured to pivot relative to the second stage member 215 about the elbow axis 96 set by the elbow (joint) 216 in the direction 96'. The shoulder 218 serves as a secure mounting post for the elbow 216. In some examples, a bearing and a DC motor with a worm gearbox can be housed in the elbow 216, which allows the transition member 220 to be controllably rotated. The worm gearbox can be configured to allow high rotational torque to be transmitted to the elbow 216 with minimal noise.

[0031] Figure 2An embodiment of an adapter member 220 is shown. The adapter member 220 is substantially elongated and defines a first axis 92 along its axial length. The adapter member 220 includes an actuation end 214 disposed on an elbow 216. The actuation end 214 includes a rotation mechanism that enables controllable angular displacement of the adapter member 220 along a direction 92' about the first axis 92. The elbow 216, shoulder 218, and coupling end 212 of the first-stage member 210 cooperate to provide multi-axis translation and / or rotation of the adapter member 220 within a relatively large three-dimensional workspace. In the illustrated embodiment, the device 200 can be configured to have five joints, three of which can be actuated joints or powered joints.

[0032] The transition member 220 includes a plurality of attachment members 230. Each attachment member 230 is coupled to the transition member 220 and includes at least one attachment element 232. During use, the attachment element 232 can be attached to a portion of the support portion 130 ( Figure 4 ), that is, the attachment element 232 can provide corresponding lifting attachment for the supporting portion 130.

[0033] In some embodiments, Figure 2 As shown, each attachment member 230 can be pivoted relative to the transition member 220 in direction 83. The transition member 220 can include a plurality of slots 231 disposed therein, each slot 231 being sized to substantially or at least partially receive a corresponding one of the plurality of attachment members 230. When the attachment members 230 are not in use, the attachment members 230 can be pivoted so that the attachment members 230 are disposed within the corresponding slots 231 of the transition member 220. When the attachment members 230 are in use, the attachment members 230 can be pivoted out of or quickly rotated out of the corresponding slots 231 so that the attachment members 230 are guided outwardly in an extended position, such as Figure 2 and Figure 3 During use, the attachment member 230 can be disposed transversely or radially extending relative to the first axis 92 , ie, relative to the elongated adapter member 220 .

[0034] In this non-limiting example, the transition member 220 includes two pairs of attachment members 230. The first pair of attachment members 230 may include attachment members 230a / 230c, and the second pair of attachment members 230 may include attachment members 230b / 230d. Preferably, when the plurality of attachment members 230 are received in the corresponding plurality of slots 231, the plurality of attachment members 230 extend substantially parallel to the first axis 92. When the plurality of attachment members 230 are in the extended position, the corresponding plurality of attachment elements 232a / 232b / 232c / 232d are exposed for coupling with the support portion 130. Non-limiting examples of the attachment elements 232 include hooks, knobs, buckles, straps, releasable fasteners, etc.

[0035] Thus, when the adapter member 220 is rotated in the direction 92' relative to the actuation end 212 of the first stage member 210, the attachment elements 232a / 232b / 232c / 232d can be rotated together relative to the actuation end 212 about the first axis 92, thereby tilting the support portion 130. In other words, the support portion 130 can be rotated about the first axis 92 as a rigid body. Therefore, when the device 200 is operated with the patient received in the support portion 130, the axial rotation of the adapter member 220 about the first axis 92 can change or manipulate the tilt angle of the patient. In other words, by rotating the adapter member 220 about the first axis 92, the patient can be supported from a lying or horizontal posture to an upright sitting posture, or vice versa.

[0036] In some embodiments, the first pair of attachment members 230a / 230c may be arranged in a mirror-symmetrical manner about the median plane 98 of the transition member 220 such that the transition member 220 is symmetrical about the median plane 98 when the first pair of attachment members 230a / 230c are both retracted or both extended.

[0037] In some embodiments, the second pair of attachment members 230b / 230d can be arranged in a mirror-symmetrical manner about the median plane 98 of the transition member 220, so that when the second pair of attachment members 230b / 230d are both retracted or both extended, the transition member 220 is symmetrical about the median plane 98. Preferably, the attachment elements 232a / 232b / 232c / 232d are also symmetrically arranged about the median plane 98 to form a substantially uniform weight distribution along the transition member 220.

[0038] In some embodiments, the transition member 220 may further include a third pair of attachment members 230e / 230f. The third pair of attachment members 230e / 230f may include corresponding attachment elements 232e / 232f. The attachment members 230e / 230f may be pivotally coupled to the transition member 220 between an extended position and a retracted position. Preferably, each pair of attachment members 230 in the extended position and in the retracted position are arranged in a mirror-symmetrical manner relative to the transition member 220 about the midplane 98.

[0039] Reference Figure 3 , at least the first pair of attachment members 230a / 230c is radially spaced from the second pair of attachment members 230b / 230d by an angular displacement 84. Preferably, each pair of attachment members 230 is radially spaced from any other pair of attachment members 230.

[0040] Preferably, each attachment member 230 is biased to a respective extended position 230a / 230b / 230c / 230d. Beneficially, biasing the plurality of attachment members 230 to the extended position 230a / 230b / 230c / 230d adds further biasing force to the plurality of attachment members 230, which holds the plurality of attachment members 230 in the extended position 230a / 230b / 230c / 230d. In other words, each attachment member 230 is preferably biased to a respective extended position so that the attachment member does not move back to the retracted position unless the caregiver intentionally retracts the attachment member 230. In some examples, a gas spring may be provided between the adapter member 220 and each respective attachment member 230 to bias the attachment member 230 toward the extended position 230a / 230b / 230c / 230d.

[0041] In some embodiments, a lock may be provided between the adapter member 220 and each attachment member 230 so that each attachment member 230 is releasably locked in a retracted position when the device 200 is not in use. When the lock is released, each attachment member 230 may be arranged to assume a respective extended position 230a / 230b / 230c / 230d under the action of a respective biasing force. Preferably, the lock is a magnetic lock, such as a permanent magnetic lock or an electromagnetic lock. In some alternative embodiments, each attachment member 230 may be unbarred and locked in place by sliding it into the slot 231.

[0042] In some embodiments, the controller 120 can be coupled to the actuation end 214. The controller 120 and accompanying electronic devices such as batteries and drivers can be disposed on / near the base 110. In addition, the controller 120 can also include a control interface, such as a joystick 122, for controlling the position and orientation of the transition member 220 and the corresponding plurality of attachment members 230 / plurality of attachment elements 232 through the controller 120. In other words, the controller 120 is configured to move the plurality of attachment elements 232 by moving the first-level member 210 and rotating the transition member 220. In one example, the joystick 122 can be a four-dimensional joystick that includes four switches for controlling the rotation and translation of the first-level member 210 and the transition member 220. The joystick 122 can be disposed near the transition member 220 to provide a better line of sight and ease of use for the caregiver.

[0043] In some embodiments, one or more sensors may be disposed on the transition member and in signal communication with the controller 120. The sensor may be configured to determine the distance between the transition member 220 and the patient. In some embodiments, the sensor may be a sonar sensor or a laser sensor incorporated into the transition member 220 for sensing the distance between the patient and the transition member 220. The controller 120 may be configured to stop the movement of the transition member 220 in response to the distance between the patient and the transition member 220 being below a threshold, i.e., when the transition member 220 is too close to the patient. This reduces the risk of the transition member 220 being too close to the patient / user and thus prevents the transition member 220 from pressing against a patient lying on a bed. The transition member 220 may be configured to resume movement when the transition member 220 moves away from the patient and when the controller 120 determines that the distance between the transition member 220 and the patient is outside a dangerous range.

[0044] In some embodiments, the controller 120 can be configured with a machine learning model / machine intelligence to monitor the status of the transfer process to promote safe operation. The machine intelligence can be configured to predict unexpected situations or situations before predicting that an injury will occur. In some embodiments, sensors can be positioned and used by the controller 120 to determine the center of mass of the device 200 with or without a patient. Beneficially, this allows the controller 120 to monitor the stability of the device 200 and control the necessary force limits, speed limits, and movement constraints to avoid accidents during the transfer process. These limits can be adjusted to be patient-specific.

[0045] like Figure 4 and Figure 5 As shown, some embodiments of the apparatus 100 may include a base 110 and a device 200 coupled to the base 110. The base 110 may be an autonomous motorized tool base (e.g., a motorized wheelchair) or the base 110 may be manually pushed around by a caregiver. The device 200 may include a first-level member 210 having an actuation end 214 and a coupling end 212 coupled to the base 110. The device 200 may be a multi-axis robotic arm or a multi-degree-of-freedom (DOF) actuation linkage structure. The transition member 220 may be rotatably coupled to the coupling end 214 of the first-level member 210. In some embodiments, the transition member 220 may be an elongated transition member that sets the first axis 92, and the transition member 220 may rotate about the first axis 92 relative to the actuation end 214. In some embodiments, a motor or a rotary actuator may be provided coupled between the actuation end 212 and the transition member 220 to enable controlled rotation of the transition member 220 relative to the actuation end 212 about the first axis 92 in the direction 92 ′.

[0046] The device 200 may also include a plurality of attachment members 230, such as three attachment members 230, coupled to the transition member 220. The three attachment members 230 may extend radially outward from the transition member 230 away from the first axis 92. In some embodiments, the plurality of attachment members 230 may be a plurality of rods extending radially from the transition member 230. Each attachment member 230 may include a respective attachment element 232 for coupling to the support portion 130 or to a harness for the patient. In other words, the support portion 130 may be coupled to the respective attachment elements 232 of the plurality of attachment members 230. The support portion 130 is operable to support or hold the patient during transfer between two support surfaces.

[0047] When the adapter member 220 is rotated in the direction 92' relative to the actuation end 212 of the first stage member 210, the plurality of attachment elements 232 can be rotated together about the first axis 92 relative to the actuation end 212. In other words, the orientation of the support portion 130 can be controlled by controlling the position of the adapter member 220. This is feasible even when the support portion 130 is made of a relatively soft and flexible material (to conform to the patient). When the patient is supported in the support portion 130, by rotating the adapter member 230 in the direction 92', the patient's inclination in the support portion 130 can be changed between a relatively upright (sitting) posture 130a and a supine posture (lying flat) 130b. Beneficially, this reduces the need for two caregivers to provide assistance during the process of transferring the patient between multiple support surfaces, such as the transfer process from a bed to a wheelchair, that is, the device 100 enables one caregiver to safely perform assisted transfers. Advantageously, the single caregiver need only operate joystick 122 and need not risk injury in supporting or stabilizing the patient during the transfer.

[0048] In some embodiments, three attachment members 230 are spaced apart from each other along the first axis 92, in other words, each attachment member 230 is spaced apart from the other attachment members 230 along the first axis 92. Preferably, two attachment members 230a / 230b of the plurality of attachment members may be radially spaced apart from each other about the first axis 92, in other words, the two attachment members 230a / 230b form an angle α with respect to the first axis 92. In other embodiments, all three attachment members 230 may be radially spaced apart from each other about the first axis 92. In some embodiments, two attachment elements 232a / 232c or 232a / 232b of the plurality of attachment elements are spaced apart along the first axis 92. Furthermore, two attachment elements 232a / 232b or 232c / 232b of the plurality of attachment elements are spaced apart in a direction transverse to the first axis 92.

[0049] Figure 6 and Figure 7 An embodiment of a support portion 130 is schematically shown. The support portion 130 can include a plurality of attachment points 132 that can be coupled to a plurality of attachment elements 232. In some embodiments, the plurality of attachment points 132 of the support portion 130 can be configured to provide a support surface 134 for receiving a patient. In some examples, the support portion 130 can be made of a flexible / comfortable sheet of material, such as a fabric sheet. In other examples, the support portion 130 can provide a relatively rigid structure with a contoured surface 134 for supporting a patient. During operation of the device 200, the receiving surface 134 can tilt when the adapter member 220 is rotated about the first axis 92.

[0050] In various embodiments, the center of mass 136 of the support portion 130 can be disposed between the plurality of attachment points 132. Corresponding to the plurality of attachment elements 232, two attachment points 132a / 132c or 132a / 132b of the plurality of attachment points can be spaced apart along the first axis 92. In addition, two attachment points 132a / 132b or 132c / 132b of the plurality of attachment points can be spaced apart along a second axis that is transverse to the first axis 92. The two attachment points 132a / 132c can be disposed on either side of the patient. In this arrangement, when the patient is received, the center of mass of the patient can be disposed between the plurality of attachment points 132a / 132b / 132c. Thus, the device 200 can be used for different patients of various body shapes and sizes without further adjustment.

[0051] Reference Figure 8 and Fig. 9 In some embodiments, the device 200 can be actuated between a folded state 200a and an operating state 200b. In the folded state 200a, the device 200 folds back to form a smaller footprint. Figure 8 In the example shown, the base 110 can be a wheelchair. As shown, in the folded state 200a, the device 100 is used as a wheelchair, and the device 200 does not interfere with the daily activities of the patient 80 sitting in the wheelchair. Figure 8 As shown, the device 200 can be folded back and retained behind the backrest 115 of the base 110 to present a compact configuration.

[0052] Figures 10 to 12 The device 100 is schematically shown as an embodiment of a base 110 in the form of a wheelchair. The base 110 may include a chassis 111 having a set of wheels coupled to the chassis. The two front wheels may be universal wheels for guidance, and the two rear wheels may be driven by a motor. The wheelchair seat 113 and the footrest may be part of the chassis 111. Optionally, the backrest 115 may be coupled to the chassis 111 so that the backrest 115 may be removed or displaced relative to the chassis 111. The armrest 116 may be coupled to the backrest 115 or directly coupled to the chassis 111 so that the armrest 116 may be removed or displaced relative to the chassis 111 to reduce obstruction to the transfer process. The backrest 115 may also be tilted to provide additional comfort to the patient during the transfer process.

[0053] In the operating state 200b, the adapter member 220 is actuated to the front of the (wheelchair) base 110 so that the adapter member 220 is above and in front of the seat 113. This advantageously allows the device 100 to be converted between a wheelchair for mobility and a device for transferring a patient 80 between multiple supports. It will be appreciated that the adapter member 220 can also serve as a protection bar or guardrail to prevent the patient 80 from falling from the support portion 130.

[0054] In a number of embodiments in which the transition member 220 is allowed to rotate at a relatively large angle relative to the second-stage member 215 or relative to the first-stage member 210, the transition member 220 is preferably constrained from moving in response to the sensor sensing that the support portion 130 supports at least part of the weight of the patient. Without considering the angular range of movement achieved by the elbow 216, the controller 120 is preferably configured to keep the transition member 220 in a fixed position (orientation of the first axis 92) relative to the first-stage member 210 during all time periods in which the patient is fully supported by the support portion 130 (e.g., when the patient is not at least partially supported by a bed or wheelchair). In some embodiments, the transition member 220 can be constrained to translation (linear displacement) substantially parallel to the path 74, such as when the transition member 220 is locked relative to the first-stage member 210 and the first-stage member 210 is constrained to translational displacement along the path 74. The first-stage member 210 can be constrained by a track (e.g., Fig.12 ) or by setting constraints by wheel (as shown Fig.14 and Fig.15 as shown).

[0055] The coupling end 212 allows the device 200 to be angularly rotated in the direction 95' about the longitudinal axis 95 of the first stage member 210, thereby, in combination with the rotation of the elbow portion 216 in the direction 96' about the elbow axis 96, the adapter member 220 can be easily positioned above the patient's chest. The rotation in the direction 95' combined with the rotation in the direction 96' also allows the device 200 to be completely folded back and disposed behind the backrest, thereby having a more compact footprint for maneuvering or storage (e.g. Figure 8). The coupling end 212 may be slidably coupled to the base 110 so that the first level member 210 may be translated along the path 74, wherein the path 74 leads the first level member 210 from one side (e.g., the right or left side) of the wheelchair (base 110) to the other side of the wheelchair (base 110), thereby spanning the width of the wheelchair or base 110. As an example, the coupling end 212 of the first level member 210 may be translationally driven by a belt and pulley transmission system, which enables the first level member 210 to move from one side of the wheelchair base 110 to the other side of the base along the width of the wheelchair base 110. In another example, a track 114 may be provided between the coupling end 212 and the wheelchair base 110 to allow translation of the device along the path 74. Preferably, the first level member 210 is coupled to the base 110 so that the first level member 210 may be linearly displaced along the rear of the base 110.

[0056] In some embodiments, the wheelchair base 110 may include one support arm 112 coupled to one side of the wheelchair base 110. In some embodiments, two support arms 112 may be coupled to two sides of the wheelchair base 110 spaced apart by the width of the wheelchair base 110. The plurality of support arms 112 may extend along the width of the wheelchair base 110 away from the wheelchair base 110 to respective support positions 112b, thereby serving as supports for the wheelchair base 110. Thus, when the device 200 slides / moves relative to the wheelchair base 110 along the width of the wheelchair base 110, the movement is supported by the support arm 112 at the support position 112b. In some embodiments, the support arm 112 may be pivotally coupled to the wheelchair base 110, thereby allowing movement relative to the wheelchair base 110 between the folded position 112a and the support position 112b. In other embodiments, the support arm 112 may slide relative to the wheelchair base 110 to extend or retract from the wheelchair base 110. In some embodiments, the support arm 112 can be extended and manually locked by a quick-release indexing plunger to avoid or reduce the risk of tipping due to the center of mass shift when the device transfers a patient.

[0057] The device 200 and apparatus 100 can be used in a variety of ways for maximum assisted transfers or other types of transfers. The exemplary process described herein is only used to illustrate the preferred process of performing a maximum assisted transfer process with only one caregiver, but does not limit the use of the device and / or apparatus 100 to this.

[0058] The device 200 or the apparatus 100 can be brought to a docking position relative to the initial location of the patient. Preferably, the apparatus 100 is docked adjacent to the initial location of the patient. The apparatus 100 can operate within a range of ±90 degrees relative to the target direction of the patient. In other words, the apparatus 100 can be used when the first axis 92 is at any angle selected from the range of ±90 degrees. This flexibility enhances accessibility and makes the apparatus more adaptable to situations where obstacles exist. For example, toilets typically have a moderate amount of space for wheelchairs to enter and exit. Therefore, the apparatus 100 may need to be parked perpendicular to the toilet to perform the transfer process. For other applications with ample space, the apparatus 100 can be positioned parallel to the patient for transfer.

[0059] FIG. 13A to FIG. 13H FIG. 2 shows a transfer operation or a transfer process performed by using the apparatus 100 and the device 200 according to an embodiment of the present disclosure. Fig.13A , a single caregiver can position the support portion 130 under the patient 80. Fig. 13B As shown, the device 100 is parked on one side of the bed 62. The only caregiver can push or drive the device 100 to the parked position. In this example, the parked position refers to the location and orientation of the device 100, where one side of the device 100 is the proximal side 162 adjacent to the patient and as close to the patient as possible. The other side of the device 100 will be the distal side 164 at this stage. The device 100 at this stage preferably has the corresponding backrest, armrest and headrest removed or lowered relative to the chassis.

[0060] like Fig. 13C As shown, the adapter member 220 is positioned above and across the chest of a patient lying in a supine position. The support portion is locked to multiple attachment members of the adapter member 220. Preferably, the support portion is attached by at least three attachment elements distributed along the adapter member 220 (along the first axis 92) and mirror-symmetrical about the midplane 98, as described above.

[0061] like Fig.13D As shown, the first stage member 210 can raise the adapter member 220 so that the patient is lifted off the bed and / or other obstructions between the bed and the seat of the wheelchair (device 100).

[0062] As shown in the figure, from Fig.13D Move your body to Fig.13EDuring the process of transferring the patient from a relatively inclined posture to a relatively upright posture, the transfer member rotates about the first axis 92 to move the patient from a relatively inclined posture to a relatively upright posture in preparation for being lowered into the seat of the wheelchair. The rotation of the transfer member 220 is characterized in that each extended attachment member and the main axis / body of the transfer member 210 rotate together as a rigid body about its own first axis 92. The first-stage member 210 is translated or linearly displaced from a proximal position to a distal position relative to the device 100 until the patient is above the seat of the wheelchair. When the sole caregiver controls the transfer using a joystick, the transfer process does not require a second caregiver to stabilize, support or orient the patient at this stage.

[0063] like Fig.13F As shown, the backrest portion, the armrest portion and the headrest portion can be restored to their respective default positions / initial positions.

[0064] like Figure 13G As shown, the adapter member 220 is lowered while maintaining the patient's posture until the patient is fully supported by the seat of the wheelchair.

[0065] like Fig.13H As shown, the support portion is removed and the device 200 is folded back and stored behind the wheelchair. The reverse transfer process (from wheelchair to bed) can be performed in the reverse order as will be understood by those skilled in the art. FIG. 13C to FIG. 13G As shown, during the entire transfer process, the transition member 220 can be positioned at different heights (h). For convenience, the height (h) can be relative to the base 110. By moving the second level member 215 relative to the first level member 210, the transition member 220 can be translated relative to the base 110 between any two heights (h). During the movement between any two heights (h), the transition member 220 is preferably constrained to a translational movement parallel to the longitudinal axis 95.

[0066] Fig.14 and Fig.15Another embodiment of the device 100 is shown. In this embodiment, the device 100 can be configured as a stand-alone unit without a support surface, i.e., a stand-alone unit without a seat, to transfer a patient 80 from a first surface 60, such as a wheelchair, to a second surface 62, such as a bed. Similarly, the device 100 can include a base 110 and a device 200 coupled to the base 110. The device 200 can include a first stage member 210 coupled to the base 110, which allows the device 200 to be moved relative to the base 110. As an example, the first stage member 210 can allow translation of the device 200 relative to the base 110 for adjustment of the height of the device. The device 200 can also include an elongated transition member 220 rotatably coupled to the actuation end 214 of the first stage member 210. The transition member 220 can rotate relative to the actuation end 214 about the first axis 92. A plurality of attachment members 230, such as four attachment members 230, can extend radially outward from the transition member 220 away from the first axis 92. Each attachment member provides a corresponding attachment element 232 for coupling to the receiving portion, wherein the plurality of attachment elements 232 can rotate together with respect to the actuation end 214 about the first axis 92 in response to rotation of the transition member 220 .

[0067] Disclosed herein is a device 200 and an apparatus 100 for transferring a patient or an immobile user between two support surfaces. The transfer process may include steps of raising, moving, and lowering the patient in a safe and reliable manner. The device 200 reduces the number of caregivers required and reduces the physical requirements of the caregivers during the patient transfer process. In particular, as described above, the device 200 and / or the device 100 make the presence of a second caregiver (for the purpose of stabilizing or supporting the patient when the patient is fully supported by the device 100) unnecessary or optional. The device 200 may include multiple actuated joints, which provide a larger workspace and flexibility to assist a sole caregiver and overcome the challenges of a home environment (e.g., a bathroom, a bedroom), which is caused by the need to accommodate patients, multiple caregivers, and multiple devices, such as overcrowding. Other potential uses include hospital wards, bathrooms, or parking lots. The device 200 or the device 100 is not limited to transferring patients between wheelchairs and beds, but can also be used in other situations, such as toilets and car seats.

[0068] In some embodiments, the device can be modular and adaptable to various existing bases, such as wheelchairs. This allows the combination of a wheelchair and a transfer device to have dual functionality. Beneficially, this achieves space savings and improves operational efficiency. Compared to conventional devices that can only assist partially dependent patients, the device of the present disclosure can provide assistance to fully dependent patients who need assistance during transfers starting from a lying / supine position with only minimal assistance from a caregiver.

[0069] Alternatively described, the present disclosure describes a device for assisting a patient, the device comprising: a base, a first-level member, a transition member, and three or more attachment members. The first-level member is coupled to the base at a coupling end, and the first-level member extends from the coupling end to a shoulder along a longitudinal axis. The transition member is an elongated member that sets a first axis. The transition member is coupled to the shoulder, and the first axis extends transversely relative to the first-level member. The three or more attachment members are coupled to the transition member and are extendable to extend radially from the transition member. Each of the three or more attachment members can be attached to a support portion by a corresponding plurality of attachment elements. The three or more attachment elements and the transition member can rotate together as a rigid body about the first axis.

[0070] Preferably, the transition member is always substantially parallel to the base, or is always substantially orthogonal to the longitudinal axis. The device preferably includes a second stage member coupling the transition member to the shoulder. The transition member is preferably coupled to the distal end of the second stage member, and the second stage member extends from the shoulder to the distal end. The transition member is preferably translatable relative to the base between any two heights by movement of the second stage member relative to the first stage member. Preferably, the transition member is constrained to translational movement parallel to the longitudinal axis during movement between the two heights.

[0071] Preferably, at least three of the three or more attachment members are distributed along the first axis. Preferably, four of the three or more attachment members are arranged in pairs in a mirror-symmetrical manner with respect to a midplane of the transition member. Preferably, the three or more attachment members are coupled to the transition member and are biased toward an extended position, and the extended position of any one of the three or more attachment members is an extended position in which the one of the three or more attachment members radially extends from the transition member. Preferably, the three or more attachment members are shiftable between an extended position and a retracted position, wherein in the retracted position, a corresponding attachment member of the three or more attachment members is at least partially accommodated in a corresponding groove of the transition member.

[0072] Preferably, each of the three or more attachment members is releasably lockable in the retracted position. Preferably, the corresponding plurality of attachment elements are spaced apart from each other along the first axis. Optionally, the corresponding plurality of attachment elements are radially spaced apart from each other about the first axis. In some embodiments, the corresponding plurality of attachment elements are spaced apart along the first axis, wherein at least two of the corresponding plurality of attachment elements are spaced apart from each other along a second axis, the second axis being transverse to the first axis.

[0073] The device may include a receiving portion coupled to the corresponding plurality of attachment elements so as to set a receiving surface to receive the patient, wherein rotation of the adapter member provides a corresponding tilt of the receiving surface. Preferably, the receiving portion includes a plurality of attachment points coupled to the corresponding plurality of attachment elements, and wherein the center of mass of the receiving portion is disposed between the plurality of attachment points.

[0074] Preferably, the device further comprises a controller in signal communication with the first stage member, wherein the controller is configured to move the corresponding plurality of attachment elements by moving the first stage member along a path and / or by rotating the transition member. The device comprises at least one sensor in signal communication with the controller, wherein the at least one sensor is configured to determine a distance between the transition member and the patient, and wherein in response to the distance being below a threshold, the controller stops displacement of the plurality of attachment elements.

[0075] Preferably, the base comprises a first bearing surface, the base is coupled to the first stage member and supports the first stage member, wherein the device can be docked relative to a second bearing surface. Preferably, the first stage member is constrained to a translational displacement along a path. Preferably, the first stage member is movable between a proximal side and a distal side of the base relative to the second bearing surface. In some embodiments, the first stage member is coupled to a track extending between a proximal side and a distal side of the base. In some embodiments, the coupling end of the first stage member is slidably coupled to the base to move along the width of the base, wherein the movement in the first stage member is supported by the at least one supporting arm in the supporting position. In some embodiments, the at least one supporting arm is pivotally coupled to the base to move between a folded position and the supporting position relative to the base.

[0076] Preferably, the device is actuatable between an operating state and a folded-back state, wherein in the folded-back state the adapter member is arranged at a rear portion of the base.Preferably, the base comprises a wheelchair.

[0077] All examples described herein, whether all examples of devices, methods, materials or products, are presented for the purpose of explanation and aiding understanding, and are not limiting or exhaustive. Those of ordinary skill in the art may make modifications without departing from the scope of the invention.

Claims

1. A device for assisting a patient, the device comprising: Pedestal; a first stage member coupled to the base at a coupling end, the first stage member extending along a longitudinal axis from the coupling end to a shoulder; a transition member, the transition member being an elongated member defining a first axis, the transition member being coupled to the shoulder, wherein the first axis extends transversely relative to the first stage member; as well as Three or more attachment members are coupled to the transition member and are extendable so as to extend radially from the transition member, each of the three or more attachment members can be attached to the supporting portion through a corresponding plurality of attachment elements, wherein the three or more attachment elements and the transition member together act as a rigid body and can rotate about the first axis.

2. The apparatus of claim 1, further comprising a second stage member coupling the transition member to the shoulder, wherein the transition member is coupled to a distal end of the second stage member, the second stage member extending from the shoulder to the distal end.

3. The device of claim 2, wherein the transition member is translatable relative to the base between any two heights by movement of the second-stage member relative to the first-stage member.

4. The apparatus of claim 3, wherein movement of the transition member between the two any two heights is constrained to be a translational movement parallel to the longitudinal axis.

5. The device according to any one of claims 1 to 4, wherein at least three of the three or more attachment members are distributed along the first axis.

6. The device according to any one of claims 1 to 5, wherein four of the three or more attachment members are arranged in pairs in a mirror-symmetrical manner with respect to a middle plane of the transition member.

7. The device according to any one of claims 1 to 6, wherein the three or more attachment members are coupled to the transition member and are biased toward an extended position, and the extended position of any one of the three or more attachment members is an extended position in which the one of the three or more attachment members radially extends from the transition member.

8. The device according to any one of claims 1 to 4, wherein the three or more attachment members can be shifted between an extended position and a retracted position, and wherein in the retracted position, a corresponding attachment member of the three or more attachment members is at least partially accommodated in a corresponding groove of the transition member.

9. The device of claim 8, wherein each of the three or more attachment members is releasably lockable in the retracted position.

10. The device of any one of claims 1 to 9, wherein the respective plurality of attachment elements are spaced apart from one another along the first axis.

11. The device of any one of claims 1 to 10, wherein the respective plurality of attachment elements are radially spaced from one another about the first axis.

12. The device of any one of claims 1 to 11, wherein the corresponding plurality of attachment elements are spaced apart along the first axis, and wherein at least two of the corresponding plurality of attachment elements are spaced apart from each other along a second axis, the second axis being transverse to the first axis.

13. The device according to any one of claims 1 to 12 further comprises the receiving portion, which is coupled to the corresponding plurality of attachment elements so as to set a receiving surface to receive a patient, wherein rotation of the adapter member provides a corresponding tilt of the receiving surface.

14. The apparatus of claim 13, wherein the standoff portion comprises a plurality of attachment points coupled to the corresponding plurality of attachment elements, and wherein a center of mass of the standoff portion is disposed between the plurality of attachment points.

15. The device according to any one of claims 1 to 14, further comprising: A controller is in signal communication with the first stage member, wherein the controller is configured to move the corresponding plurality of attachment elements by moving the first stage member along a path and / or by rotating the transition member.

16. The device of claim 15, further comprising at least one sensor in signal communication with the controller, wherein the at least one sensor is configured to determine a distance between the adapter member and the patient, and wherein in response to the distance being below a threshold, the controller stops displacement of the plurality of attachment elements.

17. The device of any one of claims 1 to 16, wherein the base comprises a first support surface, the base being coupled to and supporting the first level component, wherein the device is dockable relative to a second support surface.

18. The apparatus of claim 17, wherein the first stage member is constrained to translational displacement along a path.

19. The device of claims 17-18, wherein the first stage member is movable relative to the second support surface between a proximal side and a distal side of the base.

20. The device of claim 19, wherein the first stage member is coupled to a track extending between a proximal side and a distal side of the base.

21. The apparatus of claim 17, wherein the coupling end of the first stage member is slidably coupled to the base to move along a width of the base, wherein movement of the first stage member is supported by the at least one support arm in the support position.

22. The device of claim 21, wherein the at least one support arm is pivotally coupled to the base to move relative to the base between a folded position and the support position.

23. The device according to any one of claims 1 to 22, wherein the device is actuatable between an operating state and a folded-back state, wherein in the folded-back state the transition member is arranged at the rear of the base.

24. An apparatus according to any one of claims 1 to 23, wherein the base comprises a wheelchair.

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