Stretcher transfer device and control method thereof

Abstract

The invention belongs to the technical field of medical equipment, and discloses a stretcher transfer device and a control method thereof.The stretcher transfer device comprises a transfer bed sheet and a transfer device body; the transfer bed sheet can be laid on the stretcher for the wounded to lie down, and first connecting structures are arranged on the left side and the right side of the transfer bed sheet. The transfer device main body comprises a movable portal frame and two winding devices; the winding devices are provided with second connecting structures matched with the first connecting structures, and the two winding devices can be connected with the left side and the right side of the transfer bed sheet through the connecting structures correspondingly. The two winding devices are used for achieving lifting of the wounded by winding and unwinding the left side and the right side of the transfer bed sheet. The movable portal frame is used for transferring the transferred bed sheet and the wounded person from the stretcher to the position above the target bed body, so that the winding device descends and places the transferred bed sheet and the wounded person on the target bed body; therefore, stable and safe transfer from the stretcher to the sickbed or the operating bed is achieved, and the structure difference between the stretcher and the sickbed or the operating bed can be adapted.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a stretcher transfer device and its control method. Background Technology

[0002] After the injured arrive at the hospital, transferring them from stretchers to beds or operating tables is a crucial part of the medical treatment process. Currently, this process generally relies on manual transport, requiring the collaboration of multiple medical personnel. However, this traditional manual transport method has many drawbacks. First, improper operation or lack of coordination among medical staff can easily lead to secondary injuries such as spinal dislocation and wound lacerations during transport, seriously affecting the patient's recovery. Second, manual transport is inefficient and physically demanding for medical personnel, potentially delaying treatment, especially in emergencies.

[0003] Existing automated and intelligent transport technologies primarily target the transfer between hospital beds and operating tables, such as cradle-type, conveyor belt-type, and suspension-type technologies. However, there are significant differences between stretchers and ordinary hospital beds or operating tables. Stretches typically have steel armrests on both sides, and the surface of a stretcher sags downwards when a patient lies down, unlike a flat hospital bed or operating table. These structural and morphological differences mean that existing automated transport equipment cannot effectively solve the problem of transferring patients from stretcher beds to ordinary hospital beds or operating tables, and cannot achieve a smooth and safe transition.

[0004] Furthermore, real-time monitoring of the stability of the patient's posture and physiological state is crucial during patient transport, especially for those with severe or spinal injuries. Current transport methods generally lack the ability to monitor and intelligently adjust the patient's posture in real time, and also cannot dynamically adjust the transport speed based on the patient's physiological indicators, further increasing the risks involved. For example, if a patient experiences spinal tilt or body slippage during transport, failure to detect and correct it promptly will worsen the injury and may even cause irreversible damage. Simultaneously, if a patient experiences a sudden increase in heart rate or a sudden drop in blood pressure during transport, and the transport speed is not adjusted in time, it may also adversely affect the patient's vital signs.

[0005] To address the aforementioned issues, existing technologies urgently need improvement. Summary of the Invention

[0006] The purpose of this application is to provide a stretcher transfer device and its control method, which aims to solve the problems of low efficiency and easy secondary injury caused by traditional manual transfer, realize the smooth and safe transfer of stretcher to hospital bed or operating table, and can adapt to the structural differences between stretcher and hospital bed or operating table.

[0007] In a first aspect, this application provides a stretcher transfer device, including a transfer sheet and a transfer device body; The transfer sheet can be laid on the stretcher for the wounded to lie down, and the transfer sheet has a first connecting structure on the left and right sides. The main body of the transfer device includes a mobile gantry frame and two winding devices mounted on top of the mobile gantry frame. Each winding device has a second connecting structure adapted to the first connecting structure. The two winding devices can be connected to the first connecting structures on the left and right sides of the transfer sheet via the second connecting structures. After being connected to the first connecting structures, the two winding devices can raise and lower the injured person by winding and unwinding the left and right sides of the transfer sheet. The mobile gantry frame is used to transfer the transfer sheet along with the injured person from the stretcher to above the target bed, so that the winding devices can lower the transfer sheet along with the injured person onto the target bed.

[0008] Secondly, this application provides a control method applied to the main controller of the stretcher transfer device described above, to control the winding device during the lifting or lowering of a wounded person; the control method includes the following steps: A1. Real-time acquisition of the pressure exerted on the transfer sheet by the left and right sides and front and back sides of the injured person, the injured person's heart rate and systolic blood pressure, and the height of the two winding devices; A2. Determine whether abnormal spinal tilting or abnormal body slumping has occurred based on the pressure and height; A3. If spinal tilting abnormality occurs, adjust the height difference between the two winding devices to correct the left and right position of the injured person; A4. If the body slides down abnormally, adjust the pitch angle of the two winding devices to correct the front and back position of the injured person. A5. If no abnormal spinal tilt or body slippage occurs, adjust the winding speed of the winding device according to the patient's heart rate and systolic blood pressure.

[0009] Beneficial Effects: This application provides a stretcher transfer device and its control method. By setting up a transfer sheet that can be laid on the stretcher to carry the injured person, and utilizing the first connecting structures on its left and right sides to adapt and connect with the second connecting structures of two retracting devices on the top of a mobile gantry, the retracting devices can smoothly raise and lower the injured person by unwinding the left and right sides of the transfer sheet. Simultaneously, the mobile gantry can transfer the transfer sheet along with the injured person from above the stretcher to above the target bed (such as a hospital bed or operating table), and, in conjunction with the retracting devices, safely lower the injured person onto the target bed. This design effectively avoids secondary injuries caused by improper operation in traditional manual transfer, improves transfer efficiency and safety, and can flexibly adapt to the position and height differences between the stretcher and the target bed. Therefore, it solves the problem that automated equipment in the prior art cannot handle the special structure of stretcher beds, and solves the problems of low efficiency and easy secondary injury in traditional manual transfer, achieving smooth and safe transfer from stretcher to hospital bed or operating table, and adapting to the structural differences between the stretcher and the hospital bed or operating table. Attached Figure Description

[0010] Figure 1 This is a structural schematic diagram of a stretcher transfer device provided in this application.

[0011] Figure 2 This is a three-dimensional view of the main body of the transfer device.

[0012] Figure 3 This is a top view of the bed sheet being transported.

[0013] Figure 4 This is a schematic diagram of the second connection structure.

[0014] Figure 5 A flowchart of a control method provided in this application.

[0015] Labeling Explanation: 1. Transfer sheet; 101. First connecting structure; 2. Main body of the transfer device; 201. Mobile gantry frame; 202. Winding device; 2021. Second connecting structure; 2022. Winding frame; 2023. Winding drum; 2024. Traction motor; 2025. Lifting drive device; 203. Main controller; 90. Target bed. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0017] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0018] Please refer to Figures 1-4 One embodiment of the present application of a stretcher transfer device includes a transfer sheet 1 and a transfer device body 2; The transfer sheet 1 can be laid on the stretcher for the injured to lie down, and the transfer sheet 1 has a first connecting structure 101 on the left and right sides; The main body 2 of the transfer device includes a mobile gantry frame 201 and two winding devices 202 set on the top of the mobile gantry frame 201. The winding devices 202 are provided with a second connecting structure 2021 adapted to the first connecting structure 101. The two winding devices 202 can be connected to the first connecting structures 101 on the left and right sides of the transfer sheet 1 through the second connecting structure 1021 respectively. After being connected to the first connecting structure 101, the two winding devices 202 are used to raise and lower the injured person by winding and unwinding the left and right sides of the transfer sheet 1. The mobile gantry frame 201 is used to transfer the transfer sheet 1 together with the injured person from the stretcher to the target bed 90 (hospital bed or operating table) so that the winding devices 202 can lower the transfer sheet 1 together with the injured person and place it on the target bed 90.

[0019] The overall workflow of this stretcher transfer device can be described as follows: First, when the injured person arrives at the hospital, medical staff pre-lay a specially designed transfer sheet 1 on the stretcher, and the injured person lies on the transfer sheet 1. This transfer sheet 1, as the core medium for carrying the injured person, is made of high-strength and biocompatible material, ensuring safety and comfort during the transfer process. When it is necessary to transfer the injured person from the stretcher to the target bed 90, medical staff push the mobile gantry frame 201 above the stretcher, so that its structure spans the entire stretcher. The bottom of the mobile gantry frame 201 is usually equipped with casters with locking function for easy movement and precise positioning.

[0020] After positioning, medical staff connect the second connecting structure 2021 on the two retracting devices 202 at the top of the mobile gantry 201 to the first connecting structures 101 on the left and right sides of the transfer sheet 1. Once securely connected, the retracting devices 202 are activated. The two retracting devices 202 work synchronously, smoothly tightening the left and right sides of the transfer sheet 1 upwards through the components connected to it. As the sheet is gradually tightened and lifted, the injured person's body is completely and horizontally lifted from the stretcher, suspended above it. The entire lifting process is smooth and continuous, avoiding the shaking and impact that may occur during manual handling.

[0021] Once the injured person has been fully raised to the designated height, medical personnel unlock the casters of the mobile gantry 201 and smoothly push the entire gantry, along with the suspended injured person, from above the stretcher to above the target bed 90 (e.g., Figure 1 (As shown). After reaching the target location and locking the casters again, the release procedure of the winding device 202 is initiated. The two winding devices 202 synchronously and slowly release the transfer sheet 1, allowing the injured person and the sheet to descend smoothly and finally be placed securely on the target bed 90. After placement, the connection between the second connecting structure 2021 and the first connecting structure 101 is disconnected, and the movable gantry 201 is moved away. At this point, the entire transfer process is complete.

[0022] By employing this mechanized and automated method, the technical solution of this application fundamentally replaces traditional manual handling, which not only greatly reduces the workload of medical staff, but more importantly, through smooth and controlled lifting and movement, effectively avoids secondary injuries such as spinal displacement and wound pressure caused by improper operation, and significantly improves the safety and quality of the transfer process.

[0023] To achieve the aforementioned smooth and reliable unwinding and winding functions, the specific structure of the winding device 202 has been optimized. In some embodiments, see... Figure 2 The winding device 202 includes a winding frame 2022, a winding drum 2023, and a traction motor 2024. The winding frame 2022 and the winding drum 2023 both extend in the front-back direction. The two ends of the winding drum 2023 are rotatably connected to the winding frame 2022. The traction motor 2024 is fixed on the winding frame 2022 and is used to drive the winding drum 2023 to rotate. The second connection structure 2021 is provided on the winding drum 2023.

[0024] In this structure, the winding frame 2022, serving as the load-bearing and support frame for the entire winding device 202, is fixed to the top crossbeam of the movable gantry frame 201. The winding drum 2023 is a rigid rotating shaft with its axis running in the front-to-back direction, parallel to the longitudinal axis of the injured person's body. This layout ensures that during winding, the lifting force acting on the transfer sheet 1 is evenly distributed along the entire length of the sheet, thus achieving balanced support for the injured person from head to toe. The two ends of the winding drum 2023 can be mounted on the winding frame 2022 via rotating connectors such as bearings, ensuring its low-resistance and smooth rotation.

[0025] The traction motor 2024 is the core power source for automated winding and unwinding. The traction motor 2024 can be a servo motor or stepper motor with high-precision control capabilities, connected to the winding drum 2023 via a reducer. The motor is fixed to the winding frame 2022, and its output shaft drives the winding drum 2023 to rotate forward or backward. When the traction motor 2024 rotates forward, the winding drum 2023 rotates, winding up the second connecting structure 2021 along with the transfer sheet 1, thus lifting the injured person. When the traction motor 2024 rotates in reverse, it unwinds in the opposite direction, lowering the injured person. The motor's speed, torque, and start / stop are precisely controlled by a central control system, ensuring the smoothness and controllability of the lifting process. The second connecting structure 2021 is directly mounted on the outer surface of the winding drum 2023, ensuring that the traction force is transmitted directly to the transfer sheet 1.

[0026] The first connecting structure 101 and the second connecting structure 2021 can be a connecting buckle structure, a connecting hook structure, a binding structure, etc., which can be set according to actual needs.

[0027] In a preferred embodiment, the first connection structure 101 includes a plurality of connection holes spaced apart in the front-to-back direction (e.g., Figure 3 As shown, the second connection structure 2021 includes a plurality of flexible connectors spaced apart on the take-up drum 2023 in the front-rear direction. The flexible connectors are used to connect with the connection holes.

[0028] Specifically, along the length (i.e., front-to-back direction) of both sides of the transfer sheet 1, a row of reinforced connecting holes is evenly provided. These holes can be made of metal or high-strength composite materials, or they can be directly formed on the body of the transfer sheet 1. The distributed layout of these connecting holes disperses the lifting force generated by the winding device 202 to multiple points on the sheet, avoiding the risk of sheet tearing that may be caused by stress concentration.

[0029] Correspondingly, multiple flexible connectors are also fixed at equal intervals along the axial direction on the outer peripheral surface of the winding drum 2023. These flexible connectors can be designed in various ways to adapt to different usage requirements and cost considerations.

[0030] In one specific embodiment, the flexible connector can be the simplest and most reliable strap. These straps are made of high-strength nylon or similar material and are securely fixed at one end to the winding drum 2023. To make the connection, healthcare workers pass the free end of each strap through the corresponding connection hole on the transfer sheet 1 and then tighten it. This method is inexpensive and provides a reliable connection, but the process is relatively time-consuming.

[0031] In another, more efficient embodiment, the flexible connector can be designed as a connecting strap with a quick-release buckle (such as...). Figure 4 (As shown). One end of each connecting belt is fixed to the take-up drum 2023, and the other end has a male or female snap fastener. During operation, simply pass the connecting belt through the connecting hole and then fasten the other part of the snap fastener. This method significantly shortens connection time, reduces the possibility of human error, and improves transfer efficiency.

[0032] In another embodiment, to achieve optimal connection speed and safety, the flexible connector can be a hook with a safety lock. A row of specially designed hooks is fixed to the winding drum 2023, and the connection holes of the transfer sheet 1 are designed with reinforcing rings that can quickly engage with these hooks. Medical staff simply need to hook the reinforcing rings of the sheet into the hooks one by one to complete the connection; the self-locking structure on the hooks prevents accidental detachment.

[0033] Regardless of the form used, this multi-point, flexible connection method ensures that the transfer sheet 1 is evenly stressed and stably positioned when being rolled up and unrolled, thus providing a safe and reliable carrying platform for the injured.

[0034] Before the transfer operation begins, in order to ensure that the initial position of the transfer sheet 1 on the stretcher is stable and to prevent the sheet from shifting due to the movement of the injured person or the shaking of the stretcher, this application also provides an effective temporary fixation solution. Specifically, the back of the left and right sides of the transfer sheet 1 is provided with Velcro, which is used to connect with Velcro provided on the back of the stretcher to fix the left and right edges of the transfer sheet 1.

[0035] Typically, to fully wrap and support the injured person during transport, the width of the transport sheet (1) is designed to be larger than that of a standard stretcher. This causes the edges of the sheet to droop beyond the stretcher's support surface when laid on it. This is not only unsightly but can also hinder the work of medical personnel during preparation. By sewing or attaching hook-and-loop fasteners to the back of the left and right sides of the transport sheet (1), and also attaching matching fasteners to the back of the stretcher at the corresponding positions, the excess edges of the sheet can be easily folded and secured to the back of the stretcher.

[0036] This design has two main advantages. First, it securely fastens the transport sheet 1 to the stretcher, keeping its surface flat and taut, providing a stable lying surface for the injured person. Second, the Velcro fasteners allow for very quick and easy connection and disconnection. When lifting is required, medical staff can simply pull gently to separate the sides of the sheet from the stretcher, allowing it to be freely lifted vertically by the retracting device 202. The entire process requires no complicated unlocking operations, greatly improving the efficiency of transport preparation.

[0037] During transport, the injured person's body posture may shift due to gravity or slight swaying, such as tilting to the left or right, or sliding towards the head or feet. If these minor postural abnormalities are not corrected in time, they may have serious consequences for patients with spinal injuries or fractures. Therefore, the stretcher transport device of this application has the ability to precisely adjust the injured person's posture. Specifically, the height of the two winding devices 202 can be adjusted independently; the pitch angle of the two winding devices 202 is adjustable.

[0038] By creating a height difference between the two retractor devices 202, the left-right position of the injured person can be adjusted. For example, when a tendency for the injured person to tilt to the left is detected, the left retractor device 202 can be raised slightly, or the right retractor device 202 can be lowered slightly. In this way, the transport sheet 1 carrying the injured person will form a slight angle tilted to the right. Under the action of gravity, the injured person's body will naturally and slowly slide to the right, thereby returning to the center position and correcting the lateral tilt of the spine.

[0039] By synchronously adjusting the pitch angles of the two winding devices 202, the forward and backward position of the injured person can be adjusted. The pitch angle refers to the angle of rotation of the winding device 202 around its horizontal axis (i.e., the direction axis that is horizontal and perpendicular to the axial direction of the winding shaft). When a tendency for the injured person to slide towards the feet is detected, the pitch angles of the left and right winding devices 202 can be adjusted synchronously to slightly raise the height of the front end (head side) and slightly lower the height of the rear end (feet side). In this way, the bearing plane of the entire transfer sheet 1 will form a small tilt angle towards the head side, thereby preventing the injured person from continuing to slide towards the feet side, or even causing them to slowly slide back to the correct position on the back side; and vice versa.

[0040] This multi-dimensional attitude adjustment capability transforms the transport device from a simple lifting and translation device into an intelligent platform that can actively maintain the stability of the injured person's posture, greatly enhancing the safety of the transport process.

[0041] To achieve the aforementioned flexible height and pitch angle adjustment functions, the mechanical structure of each winding device 202 can adopt... Figure 1 , Figure 2 Specifically, each winding device 202 also includes two lifting drive devices 2025, which are arranged at intervals in the front-to-back direction. The two ends of the lifting drive devices 2025 are connected to the winding frame 2022 and the top of the movable gantry frame 201 of the winding device 202 respectively through universal connectors.

[0042] This means that each winding device 202 is not rigidly fixed to the gantry, but is supported by two independent lifting drive devices 2025 at its front and rear ends. These two lifting drive devices 2025, for example, one located at the front of the winding frame 2022 and the other at the rear, constitute the support points of the winding device 202.

[0043] The lifting drive device 2025 is itself an actuator capable of precisely controlling its extension and retraction length. Its specific implementation can be varied. In one embodiment, the lifting drive device 2025 can employ an electric actuator (such as...). Figure 1 , Figure 2 As shown in the image, it consists of a high-precision stepper motor driving a lead screw. By controlling the number of rotations of the motor, the length of the push rod can be precisely controlled at the millimeter or even sub-millimeter level. This method offers fast response and high control accuracy, making it ideal for applications requiring fine adjustments.

[0044] In another embodiment for heavy-duty applications, the lifting drive 2025 can employ a miniature hydraulic cylinder or a pneumatic cylinder. Smooth control of the piston rod extension length can also be achieved by precisely controlling the fluid pressure and flow rate entering the cylinder. The hydraulic system can provide enormous thrust, making it suitable for transporting heavier casualties.

[0045] Universal joints, such as ball joints or cross joints, connecting the two ends of the lifting drive unit 2025 are key to achieving pitch angle adjustment. The universal joints allow for multiple degrees of freedom of rotation, enabling the winding frame 2022 to pitch while simultaneously lifting.

[0046] When the overall height of a single winding device 202 needs to be adjusted independently, its two lifting drive devices 2025 at the front and rear will extend or shorten by the same length simultaneously. When its pitch angle needs to be adjusted, the front lifting drive device 2025 will extend, while the rear lifting drive device 2025 will shorten, or vice versa. Through the coordinated control of these four lifting drive devices 2025 (two on each side), any fine adjustment of the patient's posture can be achieved. In addition, to better adapt to target beds 90 of different heights, the uprights of the mobile gantry 201 can also be designed as height-adjustable structures, further enhancing the applicability of the device.

[0047] To closely integrate the aforementioned mechanical actions with the actual condition of the injured, achieving truly intelligent transport, in some implementation methods, see... Figure 1 , Figure 2 The main body 2 of the transfer device is also equipped with a main controller 203; The transfer sheet 1 is equipped with a thin-film pressure sensor, a physiological information sensor, and a wireless communication module; the thin-film pressure sensor is used to measure the pressure of the patient's left and right sides on the transfer sheet 1 and the pressure of the patient's front and back sides on the transfer sheet 1; the physiological information sensor is used to measure the patient's heart rate and systolic blood pressure; the wireless communication module is used to send the measurement data of the thin-film pressure sensor and the physiological information sensor to the main controller 203. The winding device 202 is equipped with a displacement sensor that is communicatively connected to the main controller 203. The displacement sensor is used to measure the height of the winding device 202 and send the data to the main controller 203. The main controller 203 is used to control the winding device 202 based on the measurement data from each sensor.

[0048] The main controller 203 is the brain of the entire intelligent transfer system, typically consisting of a high-performance microprocessor or embedded computer. It is responsible for receiving data from all sensors, running preset control algorithms, and issuing precise control commands to various actuators, such as the traction motor 2024 and the lifting drive device 2025.

[0049] Data acquisition is the foundation of intelligent control. Therefore, flexible thin-film pressure sensor arrays are embedded in key areas of the transfer sheet 1, such as the locations corresponding to the injured person's shoulders, hips, head, and feet. These sensors can measure the pressure distribution of different parts of the injured person's body on the sheet in real time and non-invasively. By analyzing the pressure difference between the left and right shoulder areas, it can be determined whether the injured person has lateral spinal tilt; by analyzing the pressure changes in the head and foot areas, it can be determined whether the body has slipped.

[0050] Meanwhile, the transport sheet 1 also integrates non-invasive physiological information sensors, such as sensors using the photoplethysmography principle, to continuously monitor the patient's heart rate and estimate systolic blood pressure. These vital sign data are key indicators for assessing the patient's physiological stress level and stability during transport.

[0051] To avoid the hassle and risk of cable tangling during transport, all sensor data on the sheet is transmitted in real time to the main controller 203 located on the gantry via a low-power wireless communication module, such as a Bluetooth module.

[0052] In addition, high-precision displacement sensors, such as linear potentiometers or grating rulers, are installed on or near each lifting drive unit 2025. These displacement sensors are used to accurately measure the height of the support point of each winding unit 202 and feed this height data back to the main controller 203 in real time.

[0053] After receiving pressure distribution, physiological information, and altitude information, the main controller 203 performs a fusion analysis. Based on the analysis results, the main controller 203 dynamically adjusts the winding speed, left-right height difference, and pitch angle of the winding device 202, forming a closed-loop feedback control system, thereby achieving intelligent monitoring and intervention throughout the entire transfer process.

[0054] refer to Figure 5 This application also provides a control method applied to the main controller 203 of the stretcher transfer device described above, to control the winding device 202 during the lifting or lowering of the injured person; the control method includes the following steps: A1. Real-time acquisition of the pressure of the patient's left and right sides and front and back sides on the transfer bed sheet 1, the patient's heart rate and systolic blood pressure, and the height of the two winding devices 202; A2. Determine whether spinal tilt or body slumping has occurred based on pressure and height; A3. If spinal tilting abnormality occurs, adjust the height difference between the two winding devices 202 to correct the left and right position of the injured person; A4. If the body slides down abnormally, adjust the pitch angle of the two winding devices 202 to correct the front and rear position of the injured person. A5. If no abnormal spinal tilt or body slippage occurs, adjust the winding speed of the winding device 202 according to the patient's heart rate and systolic blood pressure.

[0055] First, after the transfer process begins, the main controller 203 will acquire in real time the pressure of the patient's left and right sides and front and back sides on the transfer sheet 1, the patient's heart rate and systolic blood pressure, and the height of the two winding devices 202. To improve the accuracy of the judgment, the pressure data of the left and right sides will be mainly based on the pressure sensor readings of the left and right shoulder areas, while the pressure of the front and back sides will be mainly based on the pressure sensor readings of the head and foot areas.

[0056] Secondly, the main controller 203 uses the acquired pressure and height data to determine in real time whether abnormal spinal tilt or body slump has occurred. This is a continuous monitoring and diagnostic process.

[0057] If spinal tilt is detected, the main controller 203 will immediately start the posture correction program, which will actively correct the left and right position of the injured person by adjusting the height difference between the two winding devices 202, so as to restore him to a neutral posture.

[0058] If an abnormal body slippage is detected, the main controller 203 will also initiate a corresponding correction program, adjusting the pitch angle of the two winding devices 202 to correct the patient's forward and backward position and prevent further slippage.

[0059] If no abnormal posture is detected within a certain period of time, i.e. the patient's posture is stable, the main controller 203 will enter the comfort optimization mode. Based on the real-time monitoring of the patient's heart rate and systolic blood pressure, the winding speed of the winding device 202 will be dynamically adjusted to ensure that the physiological impact on the patient during the transfer process is minimized.

[0060] This control logic establishes a clear priority: postural safety is the primary guarantee, followed by pursuing the physiological comfort of the injured person under the premise of safety. Thus, it ensures both the safety and comfort of the transport process.

[0061] Specifically, step A2 may include: A201. If the absolute value deviation rate between the pressures on the left and right sides exceeds the preset deviation rate threshold, and the absolute value deviation between the heights of the two winding devices 202 exceeds the preset height difference threshold, then it is determined that an abnormal spinal tilt has occurred. A202. If the rate of decrease of one of the pressures on the front and back sides exceeds a preset rate of decrease, and the rate of increase of the other side exceeds a preset rate of increase, then an abnormal body slumping is determined to have occurred.

[0062] A dual-condition verification logic is used to determine spinal tilt abnormalities. Spinal tilt abnormalities are only determined to have occurred when the absolute deviation rate between the pressure on the left and right sides exceeds a preset deviation rate threshold, and simultaneously, the absolute deviation between the heights of the two winding devices 202 also exceeds a preset height difference threshold. For example, the pressure deviation rate threshold can be set to 35%, and the height difference threshold to 7mm. This means that not only must a significant unevenness in the force applied to the injured person's body be detected, but it must also be confirmed that this unevenness is related to the physical height difference of the winding devices 202, thereby eliminating simple pressure deviations caused by factors such as the injured person's own asymmetry and improving the robustness of the judgment.

[0063] The determination of abnormal body sliding is primarily based on the dynamic trend of pressure distribution. When the rate of decrease (the rate of decrease relative to the initial pressure at the start of the transfer process) of pressure on one side exceeds a preset decrease rate threshold, and the rate of increase (the rate of increase relative to the initial pressure at the start of the transfer process) of pressure on the other side exceeds a preset increase rate threshold, an abnormal body sliding is determined to have occurred. For example, if the pressure sensor reading in the head area drops rapidly within a short period (e.g., when the head slides backward away from its original pressure measurement area, causing the reading to drop to zero), while the pressure reading in the foot area rises rapidly accordingly, this clearly indicates that the injured person is sliding towards their feet (i.e., sliding backward). By monitoring the rate of change of pressure rather than its absolute value, minute body displacements can be detected more sensitively, enabling early warning and intervention for sliding trends. The decrease rate threshold and increase rate threshold can be set according to actual needs.

[0064] Preferably, step A3 may include: A301. Stop the active traction of the traction motors 2024 of the two winding devices 202, and switch the working mode of the traction motors 2024 of the two winding devices 202 to the tension holding mode; A302. Calculate the single-step height adjustment amount based on the height deviation between the two winding devices 202; A303. Adjust the height of the higher or lower winding device 202 in steps according to the preset single-step adjustment time and single-step height adjustment amount. A304. If, within a preset time threshold, the absolute height difference between the two winding devices 202 and the absolute deviation rate between the pressures on the left and right sides meet the preset first stop condition, then the correction of the injured person's left and right position is terminated; otherwise, the automatic correction of the injured person's left and right position is stopped, and a first alarm signal is issued to prompt medical personnel to intervene and correct the injured person's left and right position.

[0065] Once spinal tilt abnormality is detected, the main controller 203 executes a refined correction process. First, to prevent the spinal misalignment from worsening due to continuous lifting and lowering movements during the correction process, the main controller 203 immediately instructs the traction motors 2024 of the two winding devices 202 to stop active traction and switch their operating mode to tension holding mode. In this mode, the motors output only a small torque, just enough to keep the transfer sheet 1 taut and prevent it from loosening, thus creating a static and safe environment for posture adjustment.

[0066] Next, the main controller 203 calculates the single-step height adjustment amount based on the current height deviation between the two winding devices 202. This calculation follows an algorithm designed for gradual correction, and can be calculated using, for example, the following formula: , This is the single-step height adjustment amount. The maximum value of the heights of the two winding devices 202. Let n be the minimum height of the two winding devices 202, and n be the expected number of adjustment steps. This is the maximum allowable single-step height adjustment; for example, n can be 5, indicating that the correction should be completed within 5 steps. It can be set to 2mm, which is a safety limit to ensure that any single adjustment is small enough not to impact the patient's spine.

[0067] Then, the main controller 203 adjusts the height step by step according to the preset single-step adjustment time, such as 0.5 seconds, and the calculated single-step height adjustment amount. The specific adjustment strategy can vary depending on the current transfer stage. If the injured person is being lifted, the preferred strategy is to gradually increase the height of the lower-height reel 202 while keeping the other's height unchanged. Conversely, if the injured person is being lowered, it is preferable to gradually decrease the height of the higher-height reel 202. This unilateral fine-tuning method can guide the restoration of the injured person's body position in the smoothest way.

[0068] Finally, throughout the correction process, the main controller 203 continuously monitors the status. If, within a preset time threshold, such as 10 seconds, the absolute height difference between the two winding devices 202 and the absolute deviation rate between the pressures on the left and right sides both return to within the range that meets the preset first stop condition (e.g., the height difference does not exceed 2 mm and the pressure deviation rate does not exceed 15%), the correction is considered successful, and the correction program terminates. If the stop condition is not met even after the time threshold has expired, it indicates that a special situation may have occurred. In this case, the main controller 203 will stop the automatic correction and issue a first alarm signal, prompting medical personnel to intervene manually for inspection and adjustment via sound and light to ensure everything goes smoothly.

[0069] Furthermore, step A4 may include: A401. Reduce the winding speed of the two winding devices 202 to below the preset safe speed; A402. By adjusting the pitch angle of the two winding devices 202 gradually and synchronously with a preset single-step angle adjustment amount, the height of the two winding devices 202 on the side corresponding to the direction of the wounded body's descent gradually increases, and the preset holding time is maintained after each adjustment. A403. If the total adjustment of the pitch angle of the two winding devices 202 does not exceed the preset total adjustment threshold, and the pressure on the front and rear sides meets the preset second stop condition, then the correction of the front and rear position of the injured person is terminated; otherwise, the automatic correction of the front and rear position of the injured person is stopped, and a second alarm signal is issued to prompt medical personnel to intervene and correct the front and rear position of the injured person.

[0070] When an abnormal body descent is detected, the main controller 203 will also initiate a special correction process. First, the main controller 203 will instruct the winding speed of the two winding devices 202 to immediately reduce to below a preset safe speed, such as 0.02 m / s, or even better, to stop winding directly to prevent the descent trend from worsening.

[0071] Subsequently, the main controller 203 gradually and synchronously adjusts the pitch angles of the two winding devices 202 by a preset single-step angle adjustment amount, such as 0.5°. The direction of adjustment is crucial; the height of the two winding devices 202 on the side corresponding to the direction of the injured person's descent must gradually increase. That is, if the injured person slides towards their feet, the height of the foot-side support points of the two winding devices 202 will simultaneously rise slightly. Furthermore, after each angle adjustment step is completed, a preset holding time, such as 5 seconds, is maintained. This holding time gives the injured person's body sufficient time to slowly slide back on the new inclined plane due to gravity, and also allows the pressure sensors time to stabilize for the next condition assessment.

[0072] The correction process also has clearly defined termination conditions and safety safeguards. If the total pitch angle adjustment of the two winding devices 202 has not exceeded the preset total adjustment threshold, and the pressure distribution on both sides meets the preset second stop condition (for example, the pressure reduction rate on the side experiencing pressure reduction (referring to the pressure reduction rate relative to the initial moment of the transfer process) is no longer greater than the safety threshold, and the pressure increase rate on the side experiencing pressure increase (referring to the pressure increase rate relative to the initial moment of the transfer process) is also no longer greater than the safety threshold), it indicates that the injured person's position has been basically restored, and the main controller 203 will terminate the correction program. Conversely, if the total pitch angle adjustment has reached the upper limit, but the pressure distribution has not yet returned to normal, the main controller 203 will stop automatic correction and issue a second alarm signal to prompt medical personnel to intervene. The safety reduction rate threshold and the safety increase rate threshold can be set according to actual needs. Generally, the safety reduction rate threshold is no greater than the reduction rate threshold in step A2, and the safety increase rate threshold is no greater than the increase rate threshold in step A2.

[0073] Preferably, step A5 may include: A501. Calculate the wounded soldier's status parameters according to the following formula: ; in, These are the parameters for the wounded soldier's condition. The current heart rate. The heart rate at the initial moment of the transfer process. The systolic pressure at the current moment. The systolic pressure at the initial moment of the transfer process. , The weighting coefficients and ; A502. The winding speed of the winding device 202 is adjusted in stages according to the casualty status parameters; wherein, the larger the casualty status parameters, the smaller the winding speed.

[0074] With the injured person's posture stable, the main controller 203 shifts its focus to optimizing the transport experience based on the injured person's physiological state. To this end, the main controller 203 first calculates the injured person's state parameters according to the formula mentioned above. In this formula, It is a dimensionless parameter that comprehensively reflects the degree of physiological stress of the injured. and These are weighting coefficients, and are typically set to be greater than b, for example, It is 0.6. The value is 0.4. This setting is because heart rate is generally more sensitive and immediate to external stimuli and pain than blood pressure, and therefore it is given a higher weight in the assessment. The larger the value, the greater the deviation of the injured person's physiological state from its initial stable state, that is, the stronger the stress response.

[0075] Calculate the wounded soldier's status parameters Then, the main controller 203 will adjust the winding speed of the winding device 202 in stages according to the value of this parameter. The core logic is that the higher the casualty status parameter, the lower the winding speed. For example, a three-level speed regulation strategy can be set as follows: when... This indicates that the wounded soldier's condition is very stable. At this point, the winding speed can be set to 0.1 m / s to ensure efficient transport. This indicates that the injured person has experienced a mild stress response. At this point, the winding speed can be reduced by 50%, i.e., set to 0.05 m / s, to reduce bumps and irritation. When This indicates that the injured person may have experienced a severe stress response, such as a sudden increase in heart rate or a sudden drop in blood pressure. This is a danger signal. The winding speed drops to 0, which is an emergency stop, and a third alarm signal is issued to remind medical personnel to check the injured person's condition and take necessary medical measures.

[0076] Through this closed-loop speed control based on vital sign feedback, the stretcher transport device of this application can truly realize intelligent transport centered on the patient, maximizing the safety and comfort of the transport process.

[0077] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A stretcher transfer device, characterized in that, Includes a transfer sheet (1) and the main body of the transfer device (2); The transfer sheet (1) can be laid on the stretcher for the injured to lie down, and the transfer sheet (1) has a first connecting structure (101) on the left and right sides. The main body (2) of the transfer device includes a mobile gantry frame (201) and two winding devices (202) set on the top of the mobile gantry frame (201); the winding devices (202) are provided with a second connecting structure (2021) adapted to the first connecting structure (101), and the two winding devices (202) can be connected to the first connecting structure (101) on the left and right sides of the transfer sheet (1) respectively through the second connecting structure (2021); the two winding devices (202) are used to lift and lower the injured person by winding and unwinding the left and right sides of the transfer sheet (1) after being connected to the first connecting structure (101); the mobile gantry frame (201) is used to transfer the transfer sheet (1) together with the injured person from the stretcher to above the target bed (90) so that the winding devices (202) can lower the transfer sheet (1) together with the injured person and place it on the target bed (90).

2. The stretcher transfer device according to claim 1, characterized in that, The winding device (202) includes a winding frame (2022), a winding drum (2023), and a traction motor (2024). The winding frame (2022) and the winding drum (2023) both extend in the front-rear direction. The two ends of the winding drum (2023) are rotatably connected to the winding frame (2022). The traction motor (2024) is fixed on the winding frame (2022) and is used to drive the winding drum (2023) to rotate. The second connection structure (2021) is disposed on the winding drum (2023).

3. The stretcher transfer device according to claim 2, characterized in that, The height of the two winding devices (202) can be adjusted independently; the pitch angle of the two winding devices (202) is adjustable.

4. The stretcher transfer device according to claim 3, characterized in that, Each of the winding devices (202) further includes two lifting drive devices (2025), which are arranged at intervals in the front-to-back direction. The two ends of the lifting drive devices (2025) are respectively connected to the winding frame (2022) of the winding device (202) and the top of the mobile gantry (201) through universal connectors.

5. The stretcher transfer device according to claim 4, characterized in that, The main body (2) of the transfer device is also equipped with a main controller (203); The transfer sheet (1) is equipped with a thin-film pressure sensor, a physiological information sensor, and a wireless communication module; the thin-film pressure sensor is used to measure the pressure of the patient's left and right sides on the transfer sheet (1) and the pressure of the patient's front and back sides on the transfer sheet (1); the physiological information sensor is used to measure the patient's heart rate and systolic blood pressure; the wireless communication module is used to send the measurement data of the thin-film pressure sensor and the physiological information sensor to the main controller (203). The winding device (202) is equipped with a displacement sensor that is communicatively connected to the main controller (203). The displacement sensor is used to measure the height of the winding device (202) and send the data to the main controller (203). The main controller (203) is used to control the winding device (202) based on the measurement data of each sensor.

6. A control method, characterized in that, A main controller (203) applied to the stretcher transfer device of claim 5, for controlling the winding device (202) during the lifting or lowering of the wounded; the control method includes the steps of: A1. Real-time acquisition of the pressure on the transfer sheet (1) on the left and right sides and front and back sides of the injured person, the heart rate and systolic blood pressure of the injured person, and the height of the two winding devices (202); A2. Determine whether abnormal spinal tilting or abnormal body slumping has occurred based on the pressure and height; A3. If spinal tilting abnormality occurs, adjust the height difference between the two winding devices (202) to correct the left and right position of the injured person; A4. If an abnormal body slide occurs, adjust the pitch angle of the two winding devices (202) to correct the front and rear position of the injured person; A5. If no abnormal spinal tilt or body slippage occurs, adjust the winding speed of the winding device (202) according to the patient's heart rate and systolic blood pressure.

7. The control method according to claim 6, characterized in that, Step A2 includes: A201. If the absolute value deviation rate between the pressures on the left and right sides exceeds the preset deviation rate threshold, and the absolute value deviation between the heights of the two winding devices (202) exceeds the preset height difference threshold, then it is determined that spinal tilt abnormality has occurred. A202. If the rate of decrease of one of the pressures on the front and rear sides exceeds a preset rate of decrease threshold, and the rate of increase of the other exceeds a preset rate of increase threshold, then it is determined that an abnormal body slippage has occurred.

8. The control method according to claim 6, characterized in that, Step A3 includes: A301. Stop the active traction of the traction motors (2024) of the two winding devices (202) and switch the working mode of the traction motors (2024) of the two winding devices (202) to the tension holding mode; A302. Calculate the single-step height adjustment amount based on the deviation between the heights of the two winding devices (202); A303. According to the preset single-step adjustment time and the single-step height adjustment amount, adjust the height of the one winding device (202) with the higher height or the lower height in steps; A304. If, within a preset time threshold, the absolute height difference between the two winding devices (202) and the absolute deviation rate between the pressures on the left and right sides meet a preset first stop condition, then the correction of the left and right position of the injured person is terminated; otherwise, the automatic correction of the left and right position of the injured person is stopped, and a first alarm signal is issued to prompt medical personnel to intervene and correct the left and right position of the injured person.

9. The control method according to claim 6, characterized in that, Step A4 includes: A401. Reduce the winding speed of the two winding devices (202) to below a preset safe speed; A402. The pitch angles of the two winding devices (202) are gradually and synchronously adjusted by a preset single-step angle adjustment amount, so that the height of the two winding devices (202) on the side corresponding to the direction of the wounded body's descent gradually increases, and the preset maintenance time is maintained after each adjustment. A403. If the total adjustment of the pitch angle of the two winding devices (202) does not exceed the preset total adjustment threshold, and the pressure on the front and rear sides meets the preset second stop condition, then the correction of the front and rear position of the injured person is terminated; otherwise, the automatic correction of the front and rear position of the injured person is stopped, and a second alarm signal is issued to prompt medical personnel to intervene in the correction of the front and rear position of the injured person.

10. The control method according to claim 6, characterized in that, Step A5 includes: A501. Calculate the wounded soldier's status parameters according to the following formula: ； in, These are the parameters for the wounded soldier's condition. The current heart rate. The heart rate at the initial moment of the transfer process. The systolic pressure at the current moment. The systolic pressure at the initial moment of the transfer process. , The weighting coefficients and ; A502. Adjust the winding speed of the winding device (202) according to the wounded soldier's condition parameters; wherein, the larger the wounded soldier's condition parameters, the smaller the winding speed.

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