Method and system for automatic connecting cot

Abstract

To provide a method of automatically articulating a powered ambulance cot to load a patient into an emergency vehicle having a loading surface.SOLUTION: The invention provides a power ambulance cot 10 having a cot control system operably connected to a cot actuation system to control independent raising and lowering of front legs 20 and back legs 40 of the cot. The power ambulance cot detects the presence of a signal requesting a change in elevation of a support frame 12 thereof and causes the cot control system to raise or lower the front and / or back legs automatically upon detecting a condition while loading / unloading a patient into / from an emergency vehicle or transporting the patient up or down an escalator. Methods thereafter are also disclosed.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] FIELD OF THE DISCLOSURE The present disclosure relates generally to automated systems, and is specifically directed to automated systems for powered emergency patient transport devices or cots. [Background technology]

[0002] There are a variety of emergency patient carriers or cots in use today. Such emergency cots may be designed for transporting and loading bariatric patients into ambulances.

[0003] For example, the PROFlexX® cot by Ferno-Washington, Inc., Wilmington, Ohio, is one such patient transport device embodied as a manually actuated cot capable of providing stability and support for a load of approximately 700 pounds (approximately 317.5 kg). The PROFlexX® cot includes a patient support portion mounted on a wheeled chassis. The wheeled chassis includes an X-frame configuration that can be changed among nine selectable positions. One recognized advantage of such a cot design is that the X-frame minimizes flexion and provides a low center of gravity in all selectable positions. Another recognized advantage of such a cot design is that the selectable positions can provide better leverage for manually lifting and loading bariatric patients.

[0004] Another example of an emergency patient transport device or cot designed for bariatric patients is the POWERFlexx+ Powered Cot by Ferno-Washington. The POWERFlexx+ Powered Cot includes a battery-powered actuator capable of providing enough power to lift a load of approximately 700 pounds. One recognized advantage of such a cot design is that the cot can lift a bariatric patient from a low position to a higher position, reducing the amount of time the operator has to lift the patient.

[0005] A further variety of emergency patient transport device is a versatile emergency roll-in cot having a patient-supporting stretcher removably attached to a wheeled chassis or transport device. The patient-supporting stretcher can be shuttled horizontally on an attached set of wheels when removed from the transport device for another use. One recognized advantage of such a cot design is that the stretcher can be separately rolled into emergency vehicles where space and weight reduction are at a premium, such as station wagons, vans, modular ambulances, airplanes, or helicopters.

[0006] Another advantage of such a cot design is that the stretcher can be more easily transported over rough terrain and from locations where it is impractical to use a full cot to transport the patient. Examples of such cots can be found in U.S. Patent Nos. 4,037,871 and 4,921,295 and International Publication No. WO01701611.

[0007] While the above-described multipurpose emergency roll-in cots are generally suitable for their intended purposes, they have not been satisfactory in all respects. For example, the above-described cots are loaded into an ambulance by a loading process that requires at least one operator to support the load of the cot for part of the process. Summary of the Invention

[0008] The embodiments described herein are directed to an automated system for a multi-functional, multi-purpose emergency roll-in cot that can improve and manage the weight of the cot while being rolled into various types of rescue vehicles, such as ambulances, vans, station wagons, airplanes, and helicopters, providing improved balance and / or easier loading at any cot height.

[0009] One embodiment disclosed herein is a method for automatically coupling a powered ambulance cot for loading a patient into an emergency vehicle having a loading surface. The method includes supporting a patient on the powered ambulance cot. The cot includes a support frame having a pair of front load wheels to support the patient, a pair of front legs each having a front wheel and a middle load wheel, a pair of rear legs each having a rear wheel, a cot actuation system having a front actuator that moves with the pair of front legs and interconnects the support frame with the pair of front legs, a rear actuator that moves with the pair of rear legs and interconnects the support frame with the pair of rear legs, and a cot control system operably connected to the cot actuation system and controlling independent lifting and lowering of the pair of front legs and the pair of rear legs. The cot includes detecting the presence of a signal requesting a change in elevation of the support frame to cause the cot actuation system to move one or both of the pair of front wheels and the pair of rear wheels relative to the support frame via lifting and lowering the pair of front legs and / or the pair of rear legs. The method includes lifting a support frame of a power ambulance cot to a height that positions its front load wheels above a loading surface of the emergency vehicle via a cot control system that detects the presence of a signal requesting that the support frame be lifted and activating a cot actuation system. The method includes rolling the power ambulance cot toward the emergency vehicle until the front load wheels are above the loading surface. The method includes lowering the support frame until the front load wheels contact the loading surface via the cot control system that detects the presence of a signal requesting that the support frame be lowered and activating the cot actuation system. The method includes automatically lifting a pair of front legs relative to the support frame until a front wheel of each front leg is at or above the loading surface via the cot control system, which detects both the presence of a signal requesting that the front legs be lifted and that the front load wheels contact the loading surface and a signal activating the cot actuation system.The method includes further rolling the powered ambulance cot on the loading surface until a mid-load wheel of each front leg rests on the loading surface, lifting the pair of rear legs relative to the support frame until at or above the loading surface via a cot control system that detects the presence of a signal requesting that the rear legs be lifted and activates a cot actuation system, and further rolling the powered ambulance cot on the loading surface until a rear wheel of each rear leg rests on the loading surface.

[0010] Another embodiment disclosed herein is a method for automatically coupling a powered ambulance cot for removal of a patient from an emergency vehicle having a loading surface. The method includes supporting a patient on the powered ambulance cot. The cot includes a support frame having a pair of front load wheels to support the patient, a pair of front legs each having a front wheel and a middle load wheel, a pair of rear legs each having a rear wheel, a cot actuation system having a front actuator for moving the pair of front legs together and interconnecting the support frame with the pair of front legs and a rear actuator for moving the pair of rear legs together and interconnecting the support frame with the pair of rear legs, and a cot control system operably connected to the cot actuation system, controlling the independent lifting and lowering of the pair of front legs and the pair of rear legs, and detecting the presence of a signal requesting a change in elevation of the support frame to cause the cot actuation system to move either or both of the pair of front and rear wheels relative to the support frame via lifting and lowering the pair of front legs and / or the pair of rear legs. The method includes rolling the electric ambulance cot onto the loading surface until only the rear wheels of each rear leg clear the loading surface. The method includes automatically lowering the pair of rear legs relative to the support frame until the rear wheels support the cot below the loading surface via a cot control system that detects the presence of both a signal requesting that the rear wheels of each rear leg clear the loading surface and a signal that activates a cot actuation system. The method includes further rolling the electric ambulance cot off the loading surface until both the front wheel and the middle load wheel of each front leg clear the loading surface but the front load wheel still contacts the loading surface. The method includes lowering the pair of front legs relative to the support frame until the front wheels of each front leg support the support frame below the loading surface via a cot control system that detects the presence of a signal requesting that the front legs be extended and a signal that activates a cot actuation system.

[0011] Yet another embodiment disclosed herein is a method for automatically coupling a cot for an electric ambulance transporting a patient up and down a moving escalator. The method includes supporting a patient on the cot of the electric ambulance. The cot includes a support frame having a pair of front load wheels to support the patient, a pair of front legs each having a front wheel and a middle load wheel, a pair of rear legs each having a rear wheel, a cot actuation system having a front actuator for moving the pair of front legs together and interconnecting the support frame with the pair of front legs, a rear actuator for moving the pair of rear legs together and interconnecting the pair of rear legs with the support frame, and a cot control system operably connected to the cot actuation system and controlling the independent raising and lowering of the pair of front legs and the pair of rear legs, wherein the cot actuation system detects the presence of a signal requesting a change in elevation of the support frame, causing the cot actuation system to move either or both of the pair of front wheels and the pair of rear wheels relative to the support frame via raising and lowering the pair of front legs and / or the pair of rear legs. The method includes rolling a cot onto a moving escalator, and a control system automatically retracts or extends the front legs to maintain the support frame height against gravity as the escalator moves up and down.

[0012] These and additional features provided by the embodiments of the present disclosure will be more fully understood in view of the following detailed description, taken in conjunction with the drawings.

[0013] The following detailed description of specific embodiments of the present disclosure is best understood when read in conjunction with the following drawings, where like structure is indicated with like reference numerals and in which: [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a perspective view of a cot according to one or more embodiments described herein. [Figure 2] FIG. 1 illustrates a top view of a cot according to one or more embodiments described herein. [Figure 3] FIG. 1 is a side view of a cot according to one or more embodiments described herein. [Figure 4] 4A-4C are side views illustrating a sequence of raising and / or lowering a cot according to one or more embodiments described herein. [Figure 5] 5A-5E are side views illustrating a loading and / or unloading sequence of a cot according to one or more embodiments described herein. [Figure 6] 1 illustrates a schematic diagram of an actuation system for a cot according to one or more embodiments described herein. [Figure 7] 1 illustrates a schematic diagram of a cot having an electrical system according to one or more embodiments described herein. [Figure 8] 1 illustrates a schematic representation of the front end of a cot according to one or more embodiments described herein. [Figure 9] 1 illustrates a schematic diagram of a wheel assembly according to one or more embodiments described herein. [Figure 10] 1 illustrates a schematic diagram of a wheel assembly according to one or more embodiments described herein. [Figure 11] 10A-10C illustrate schematic diagrams of an up escalator function according to one or more embodiments described herein. [Figure 12] 10A-B illustrate schematic diagrams of a downward escalator function according to one or more embodiments described herein. [Figure 13] 1 illustrates a schematic diagram of a method for performing an escalator function according to one or more embodiments described herein.

[0015] The embodiments set forth in the drawings are exemplary in nature and are not intended to limit the embodiments described herein. Moreover, individual features of the drawings and embodiments will become more fully apparent and understood in view of the detailed description. DETAILED DESCRIPTION OF THE INVENTION

[0016] Referring to FIG. 1 , a self-actuating, powered roll-in cot 10 for transporting and loading a patient into an emergency transport vehicle is shown. The cot 10 includes a support frame 12 having a front end 17 and a rear end 19. As used herein, the front end 17 is synonymous with the term "load end," i.e., the end of the cot 10 that is loaded onto the loading surface first. Conversely, as used herein, the rear end 19 is synonymous with the term "control end," which is the end of the cot 10 that is loaded onto the loading surface last and provides certain operator controls as described herein. It is further noted that when the cot 10 is transporting a patient, the patient's head may be oriented nearest the front end 17, and the patient's legs may be oriented nearest the rear end 19. Therefore, the term "head end" may be used interchangeably with the term "front end," and the term "leg end" may be used interchangeably with the term "rear end." It is further noted that the terms "front end" and "rear end" are interchangeable. Accordingly, this term is used consistently throughout for the sake of clarity, and embodiments described herein may be substituted without departing from the scope of this disclosure. Generally, as used herein, the term "patient" refers to any living or formerly living organism, such as, for example, a human, an animal, a cadaver, etc.

[0017] 2 and 3 collectively, leading end 17 and / or trailing end 19 may be telescoping. In one embodiment, leading end 17 may be extended and / or retracted (indicated generally in FIG. 2 by arrow 217). In another embodiment, trailing end 19 may be extended and / or retracted (indicated generally in FIG. 2 by arrow 219). Thus, the overall length between leading end 17 and trailing end 19 may be expanded and / or contracted to accommodate patients of various sizes.

[0018] 1-3 collectively, the support frame 12 may include a pair of generally parallel, horizontal side members 15 extending between a front end 17 and a rear end 19. Various configurations for the side members 15 are contemplated. In one embodiment, the side members 15 may be a pair of spaced apart metal tracks. In another embodiment, the side members 15 include undercuts 115 engageable with accessory clamps (not shown). Such accessory clamps may be utilized to releasably connect patient care accessories, such as an IV pole, to the undercuts 115. The undercuts 115 may be located along the entire length of the side members, allowing accessories to be releasably secured in many different locations on the roll-in cot 10.

[0019] 1, the roll-in cot 10 also includes a pair of retractable and extendable carrying end or front legs 20 connected to the support frame 12 and a pair of retractable and extendable control end or rear legs 40 connected to the support frame 12. The roll-in cot 10 may comprise any rigid material, such as a metal or composite structure. Specifically, the support frame 12, the front legs The front legs 20, rear legs 40, or a combination thereof may comprise carbon fiber and resin construction. As described in further detail herein, the roll-in cot 10 may be raised to various heights by extending the front legs 20 and / or rear legs 40, or the roll-in cot 10 may be lowered to various heights by retracting the front legs 20 and / or rear legs 40. Note that terms such as "raise," "lower," "above," "below," and "height" are used herein to indicate distance relationships between objects measured along a line parallel to gravity using a reference (e.g., a surface supporting the cot).

[0020] In certain embodiments, the front legs 20 and the rear legs 40 may be connected to respective side members 15. Specifically, when viewing the cot from the side, as shown in FIGS. 4A-5E, the front legs 20 and the rear legs 40 may cross each other at their respective locations where they are connected to the support frame 12 (e.g., side members 15 (FIGS. 1-3)). As shown in the embodiment of FIG. 1, the rear legs 40 may be positioned inside the front legs 20. That is, the front legs 20 may be spaced further apart from each other than the rear legs 40, such that the rear legs 40 are positioned between the front legs 20. Additionally, the front legs 20 and the rear legs 40 may include front wheels 26 and rear wheels 46 that allow the roll-in cot 10 to roll.

[0021] In one embodiment, the front wheels 26 and rear wheels 46 may be swivel caster wheels or swivel fixed wheels. As the roll-in cot 10 is raised and / or lowered, the front wheels 26 and rear wheels 46 may be moved simultaneously to ensure that the plane of the wheels 26, 46 and the plane of the side members 15 of the roll-in cot 10 are approximately parallel.

[0022] 1-3 and 6, the roll-in cot 10 may also include a cot actuation system 34 including a front actuator 16 configured to move the front legs 20 and a rear actuator 18 configured to move the rear legs 40. The cot actuation system 34 may include one device (e.g., a centralized motor and pump) configured to control both the front actuator 16 and the rear actuator 18. For example, the cot actuation system 34 may include one housing containing one motor capable of driving the front actuator 16, the rear actuator 18, or both, utilizing valves, control logic, etc. Alternatively, as shown in FIG. 1, the cot actuation system 34 may include separate devices configured to individually control the front actuator 16 and the rear actuator 18. In this embodiment, the front actuator 16 and the rear actuator 18 may each include separate housings with separate motors for driving the front actuator 16 and the rear actuator 18, respectively.

[0023] A front actuator 16 is coupled to the support frame 12 and is configured to actuate the front legs 20 to raise and / or lower a front end 17 of the roll-in cot 10. Additionally, a rear actuator 18 is coupled to the support frame 12 and is configured to actuate the rear legs 40 to raise and / or lower a rear end 19 of the roll-in cot 10. The roll-in cot 10 may be powered by any suitable power source. For example, the roll-in cot 10 may include a battery capable of supplying a voltage such as approximately 24 volts nominal or approximately 32 volts nominal.

[0024] The front actuator 16 and the rear actuator 18 can be operated to actuate the front legs 20 and the rear legs 40 simultaneously or independently. As shown in FIGS. 4A-5E, simultaneous and / or independent actuation allows the roll-in cot 10 to be set at various heights. The actuators described herein may be capable of providing a dynamic force of approximately 350 pounds (approximately 158.8 kg) and a static force of approximately 500 pounds (approximately 226.8 kg). Furthermore, the front actuator 16 and the rear actuator 18 can be operated by a unified motor system or multiple independent motor systems.

[0025] In one embodiment, as shown generally in FIGS. 1-3 and 6 , the front actuator 16 and the rear actuator 18 comprise hydraulic actuators for operating the roll-in cot 10. In one embodiment, the front actuator 16 and the rear actuator 18 are dual piggyback hydraulic actuators, i.e., the front actuator 16 and the rear actuator 18 each form a master-slave hydraulic circuit. The master-slave hydraulic circuit comprises four hydraulic cylinders with four extending rods piggybacked (i.e., mechanically linked) to each other in pairs. Thus, the dual piggyback actuator comprises a first hydraulic cylinder with a first rod, a second hydraulic cylinder with a second rod, a third hydraulic cylinder with a third rod, and a fourth hydraulic cylinder with a fourth rod. While the embodiments described herein frequently refer to master-slave systems comprising four hydraulic cylinders, it is noted that the master-slave hydraulic circuits described herein can include any even number of hydraulic cylinders.

[0026] Referring to FIG. 6 , each of the front actuator 16 and the rear actuator 18 includes a rigid support frame 180 that is substantially “H” shaped (i.e., two vertical sections connected by a cross section). The rigid support frame 180 includes a cross member 182 that is connected to two vertical members 184 approximately at the center of each of the two vertical members 184. The pump motor 160 and the fluid reservoir 162 are connected to the cross member 182 and are in fluid communication with each other. In one embodiment, the pump motor 160 and the fluid reservoir 162 are located on opposite sides of the cross member 182 (e.g., the fluid reservoir 162 is located above the pump motor 160). Specifically, the pump motor 160 may be a brushed, bi-rotating electric motor having a peak power output of approximately 1400 watts. The rigid support frame 180 may include additional cross members or backing plates to provide additional rigidity and prevent twisting or lateral movement of the vertical member 184 relative to the cross member 182 during operation.

[0027] Each vertical member 184 includes a pair of piggyback hydraulic cylinders (i.e., a first hydraulic cylinder and a second hydraulic cylinder, or a third hydraulic cylinder and a fourth hydraulic cylinder), where the first cylinder extends a rod in a first direction and the second cylinder extends a rod in a substantially opposite direction. When the cylinders are arranged in a master-slave configuration, one of the vertical members 184 includes an upper master cylinder 168 and a lower master cylinder 268. The other vertical member 184 includes an upper slave cylinder 169 and a lower slave cylinder 269. It is noted that while the master cylinders 168, 268 are piggybacked together and extend the rods 165, 265 in substantially opposite directions, the master cylinders 168, 268 can be staggered on the vertical member 184 and / or extend the rods 165, 265 in substantially the same direction.

[0028] 7, control box 50 is communicatively coupled (indicated generally by arrowed lines) to one or more processors 100. Each of the one or more processors may be any device capable of executing machine-readable instructions, such as, for example, a controller, an integrated circuit, a microchip, etc. As used herein, the term "communicatively coupled" means that the components enable the exchange of data signals with each other, such as, for example, electrical signals through a conductive medium, electromagnetic signals through air, optical signals through an optical waveguide, etc.

[0029] The one or more processors 100 can be communicatively coupled to one or more memory modules 102, which can be any device capable of storing machine-readable instructions. The one or more memory modules 102 can be, for example, read-only memory (ROM), random access memory (RAM), secondary memory (e.g., a hard drive), or the like. The present invention may include any type of memory, such as a combination of these. Examples of suitable ROM include, but are not limited to, programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), electrically alterable programmable read-only memory (EAROM), flash memory, or combinations thereof. Examples of suitable RAM include, but are not limited to, static RAM (SRAM) or dynamic RAM (DRAM).

[0030] The embodiments described herein can perform methods automatically by executing machine-readable instructions with one or more processors 100. The machine-readable instructions can include, for example, logic or algorithm(s) written in any programming language of any generation (e.g., first, second, third, fourth, or fifth generation), such as machine language, which can be directly executed by a processor, which can be compiled or assembled and stored into machine-readable instructions, or assembly language, object-oriented programming (OOP), scripting language, microcode, etc. Alternatively, the machine-readable instructions can be written in a hardware description language (HDL), such as logic implemented via either a field-programmable gate array (FPGA) configuration or an application-specific integrated circuit (ASIC), or their equivalents. Thus, the methods described herein can be implemented in any conventional computer programming language, such as pre-programmed hardware elements or a combination of hardware and software components.

[0031] 2 and 7 collectively, front actuator sensor 62 and front actuator sensor 64 are configured to detect whether each of front actuator 16 and rear actuator 18 is disposed in a first position, with each actuator positioned below or closer to a respective one of a pair of cross members 63, 65 ( FIG. 2 ), relative to a second position, with each actuator positioned further away from a respective one of cross members 63, 65 relative to the first position, and communicate such detection to one or more processors 100. In one embodiment, front actuator sensor 62 and rear actuator sensor 64 are coupled to a respective one of cross members 63, 65, although other positions or configurations on support frame 12 are contemplated herein. The sensors 62, 64 may be distance measuring sensors, string encoders, potentiometer rotation sensors, proximity sensors, reed switches, Hall effect sensors, combinations thereof, or any other suitable sensors operable to detect when the front actuator 16 and / or rear actuator 18 are at and / or passing through the first and / or second positions, respectively. In further embodiments, other sensors may be used with the front actuator 16 and rear actuator 18 and / or cross members 63, 65 to detect the weight of a patient positioned on the cot 10 (e.g., via strain gauges). Note that, as used herein, the term "sensor" refers to a device that measures a physical quantity, state, or attribute and converts it into a signal that correlates to the measured physical quantity, state, or attribute. Furthermore, the term "signal" refers to an electrical waveform, such as current, voltage, flux, DC, AC, sine wave, triangular wave, square wave, etc., magnetic waveform, or optical waveform that can be transmitted from one location to another.

[0032] 3 and 7 collectively, the roll-in cot 10 can include a front angular rate sensor 66 and a rear angular rate sensor 68 communicatively coupled to the one or more processors 100. The front angular rate sensor 66 and the rear angular rate sensor 68 can be any sensor that measures an actual angle or change in angle, such as, for example, a potentiometer rotation sensor, a Hall effect rotation sensor, or the like. The front angular rate sensor 66 measures the front angle α of a portion of the pivotally coupled front legs 20. f The rear angular velocity sensor 68 is operable to detect the rear angle α of the pivotally connected portion of the rear leg 40. b In one embodiment, the front angular rate sensor 66 and the rear angular rate sensor 68 are operably coupled to the front legs 20 and the rear legs 40, respectively. Accordingly, the one or more processors 100 execute machine-readable instructions to detect the front angle α f and rear angle α b The difference between the angle delta and the load angle (angle delta) can be determined. The load angle can be set to an angle (load / unload indicator) such as about 20° or any other angle that generally indicates the roll-in cot 10 is in the load state. Thus, if the angle delta exceeds the load angle, the roll-in cot 10 can detect that it is in the load state and perform certain actions depending on being in the load state. Alternatively, the distance sensor can determine the difference between the angle delta and the load angle α f and rear angle α b The roll-in cot 10 may be used to perform measurements similar to the angle measurements to determine the position of the front legs 20 and / or rear legs 40. For example, the angle may be determined from the position of the front legs 20 and / or rear legs 40 and relative to the side member 15. For example, the distance between the front legs 20 and a reference point along the side member 15 can be measured. Similarly, the distance between the rear legs 40 and a reference point along the side member 15 can be measured. Additionally, the extended distance between the front actuator 16 and the rear actuator 18 can be measured. Thus, either the distance measurements or angle measurements described herein can be used interchangeably to determine the position of components of the roll-in cot 10.

[0033] Additionally, it is noted that distance sensors may be coupled to any portion of the roll-in cot 10 such that the distance between the underside and a component such as, for example, the front end 17, the rear end 19, the front load wheels 70, the front wheels 26, the mid-load wheels 30, the rear wheels 46, the front actuator 16, or the rear actuator 18 may be determined.

[0034] 3 and 7 collectively, the front end 17 may include a pair of front load wheels 70 configured to assist in loading the roll-in cot 10 onto a loading surface (e.g., the floor of an ambulance). The roll-in cot 10 may include a load end sensor 76 communicatively coupled to one or more processors 100. The load end sensor 76 is a distance sensor operable to detect the position of the front load wheels 70 relative to the loading surface (e.g., the distance from the detected surface to the front load wheels 70). Suitable distance sensors include, but are not limited to, ultrasonic sensors, touch sensors, proximity sensors, or any other sensor capable of detecting distance relative to an object. In one embodiment, the load end sensor 76 is operable to detect the distance, directly or indirectly, from the front load wheels 70 to a surface substantially directly below the front load wheels 70. Specifically, the load end sensor 76 can provide an indication when a surface is within a definable range of distances from the front load wheels 70 (e.g., when the surface is greater than a first distance but less than a second distance), also referred to herein as the load end sensor 76 "seeing" or "seeing" the load surface. Thus, the definable range can be set such that when the front load wheels 70 of the roll-in cot 10 are in contact with the load surface, a positive indication is provided by the load end sensor 76. In particular, when the roll-in cot 10 is being loaded into an ambulance on an incline, it can be important to ensure that both front load wheels 70 are on the load surface.

[0035] The front legs 20 may include mid-load wheels 30 attached thereto. In one embodiment, the mid-load wheels 30 may be located on the front legs 20 adjacent the front cross beam 22 (FIG. 2) with the front actuators 16 mounted at their lower ends (FIG. 6). As shown in FIGS. 1 and 3, the control end legs 40 do not include any mid-load wheels adjacent the rear cross beam 42 with the rear actuators 18 mounted at their lower ends (FIG. 6). The roll-in cot 10 may include a mid-load sensor 77 communicatively coupled to one or more processors 100. The mid-load sensor 77 is an operable distance sensor for detecting the distance between the mid-load wheels 30 and the load surface 500. In one embodiment, the mid-load sensor 77 may provide a signal to the one or more processors 100 when the mid-load wheels 30 are within a set distance of the load surface. While the figures only show the mid-load wheels 30 on the front legs 20, the mid-load wheels 30 may also be mounted on the front legs 20. It is further contemplated that the mid-load wheels 30 may be positioned on the rear legs 40 or any other location on the roll-in cot 10 to cooperate with the front load wheels 70 to facilitate loading and / or unloading (e.g., the support frame 12). For example, the mid-load wheels may be located in any location that can serve as a fulcrum or center of balance during the loading and / or unloading processes described herein.

[0036] The roll-in cot 10 may include a rear actuator sensor 78 communicatively coupled to the one or more processors 100. The rear actuator sensor 78 is a distance sensor operable to detect the distance between the rear actuator 18 and a load surface. In one embodiment, the rear actuator sensor 78 is operable to detect, directly or indirectly, the distance from the rear actuator 18 to a surface substantially directly below the rear actuator 18 when the rear legs 40 are substantially fully retracted ( FIGS. 4 , 5D, and 5E ). Specifically, the rear actuator sensor 78 may provide an indication when the surface is within a definable range of distances from the rear actuator 18 (e.g., when the surface is greater than a first distance but less than a second distance).

[0037] 3 and 7, the roll-in cot 10 may include a front drive light 86 communicatively coupled to one or more processors 100. The front drive light 86 may be coupled to and configured to couple with the front actuator 16. Thus, as the roll-in cot 10 is rolled in the extended position, the retracted position of the front actuator 16, or any position therebetween, the front drive light 86 may illuminate an area directly in front of the front end 17 of the roll-in cot 10. The roll-in cot 10 may also include a rear drive light 88 communicatively coupled to one or more processors 100. The rear drive light 88 may be coupled to and configured to couple with the rear actuator 18. Thus, as the roll-in cot 10 is rolled into the extended position of the rear actuator 18, the retracted position, or any position in between, the rear drive light 88 can illuminate the area directly behind the rear end 19 of the roll-in cot 10. One or more processors 100 can receive input from any of the operator controls described herein to activate the front drive light 86, the rear drive light 88, or both.

[0038] 1 and 7 collectively, the roll-in cot 10 may include a line indicator 74 communicatively coupled to the one or more processors 100. The line indicator 74 may be any light source configured to project a line indication onto a surface, such as, for example, a laser, a light emitting diode, a projector, etc. In one embodiment, the line indicator 74 may be coupled to the roll-in cot 10 and configured to project a line onto a surface below the roll-in cot 10 such that the line is aligned with the mid-load wheels 30. The line runs from a point below or adjacent the roll-in cot 10 to a point offset onto the roll-in cot 10 and from a side of the roll-in cot 10. Thus, when the line indicator projects the line, an operator at the rear end 19 of the cot maintains visibility of the line and utilizes the line as a reference for the location of the center of balance of the roll-in cot 10 (e.g., the mid-load wheels 30) during loading, unloading, or both.

[0039] The rear end 19 may include operator controls 57 for the roll-in cot 10. When used in the present invention, the operator controls 57 include input components for receiving commands from an operator and output components for providing a display to the operator. Thus, an operator can utilize the operator controls 57 in loading and unloading the roll-in cot 10 by controlling the movement of the front legs 20, the rear legs 40, and the support frame 12. The operator controls 57 may be included in a cot control system or control box 50 located at the rear end 19 of the roll-in cot 10. For example, the control box 50 may be communicatively coupled to one or more processors 100, which in turn are communicatively coupled to the front actuators 16 and the rear actuators 18. The control box 50 may include a visual display component or graphical user interface (GUI) 58 configured to notify the operator whether the front actuators 16 and the rear actuators 18 are activated or deactivated. The visual display component or GUI 58 may include any device capable of transmitting images, such as, for example, a liquid crystal display, a touch screen, or the like.

[0040] 2, 7, and 8 collectively, operator control 57 may be operable to receive user input indicating a desire to perform a cot function. Operator control 57 may be communicatively coupled to one or more processors 100 such that input received by operator control 57 can be converted into a control signal received by one or more processors 100. Thus, operator control 57 may comprise any type of tactile input capable of converting a physical input into a control signal, such as, for example, a button, switch, microphone, knob, etc. While the embodiments described herein refer to automated operation of front actuator 16 and rear actuator 18, it is noted that the embodiments described herein may include operator control 57 configured to directly control front actuator 16 and rear actuator 18. That is, the automated process described herein may be overridden by a user, and front actuator 16 and rear actuator 18 may be operated independently of input from the control. In other words, for example, a cot control system or control box 50 is operably connected to the cot actuation system 34 and independently controls the elevation of the pair of front legs 20 via the front actuator 16 and the pair of rear legs 40, and detects the presence of a signal, such as a control signal from the operator control 57, requesting a change in the elevation of the support frame 12 to cause the cot actuation system 34 to move one or both of the pair of front wheels 26 and the pair of rear wheels 46 relative to the support frame 12 via the elevation of the pair of front legs 20 and / or the pair of rear legs 40.

[0041] In some embodiments, the operator controls 57 can be located at the rear end 19 of the roll-in cot 10. For example, the operator controls 57 can include a button array 52 located adjacent to and directly below a visual display component or GUI 58. The button array 52 can include a plurality of buttons arranged in a linear fashion. Each button in the button array 52 can include an optical element (i.e., an LED) capable of emitting visible wavelengths of light energy when the button is activated. Alternatively, the operator controls 57 can include a button array 52 located adjacent to and above the visual display component or GUI 58. Note that while each button array 52 is shown as consisting of four buttons, the button array 52 can include any number of buttons. Additionally, the operator controls 57 can include a concentric button array 54 including a plurality of arc-shaped buttons arranged concentrically around a central button. In some embodiments, the concentric button array 54 can be located above the visual display component or GUI 58. In still other embodiments, one or more buttons 53 can provide similar and / or additional functionality to any of the buttons in button array 52 and / or button array 54, which may be provided on either side or both sides of control box 50. It is noted that although operator control 57 is shown as being located at the rear end 19 of roll-in cot 10, it is contemplated that operator control 57 could be located in alternative locations on support frame 12, for example, at the front end 17 or on a side of support frame 12. In a further embodiment, operator control 57 could be located on a removably attachable wireless remote control that can control roll-in cot 10 without being physically attached to the roll-in cot 10.

[0042] The operator controls 57 may further include a bottom button 56(-) operable to receive an input indicating a desire to lower (-) the roll-in cot 10 and an up button 60(+) operable to receive an input indicating a desire to raise (+) the roll-in cot 10. It will be understood that in other embodiments, the raise and / or lower command functions may be assigned to other buttons in addition to buttons 56, 60, such as those in button array 52 and / or button array 54. As described in more detail herein, the down button 56(-) and the up button 60(+) may each generate a signal via actuation system 34 to activate the front legs 20, the rear legs 40, or both, to perform a cot function. The cot function may require the front legs 20, the rear legs 40, or both, to be raised, lowered, retracted, or released depending on the position and orientation of the roll-in cot 10. In some embodiments, each of the down button 56(-) and up button 60(+) can be similar (i.e., the pressure and / or displacement of the button can be proportional to a parameter of the control signal). Thus, the speed of actuation of the front legs 20, the rear legs 40, or both, can be proportional to a parameter of the control signal. Alternatively, each of the down button 56(-) and up button 60(+) can be backlit.

[0043] Referring now to an embodiment of the roll-in cot 10 that is simultaneously actuated, the roll-in cot 10 is shown expanded in FIG. 2 whereby the front actuator sensor 62 and the rear actuator sensor 64 detect that the front actuator 16 and the rear actuator 18 are in a first position. That is, the front actuator 16 and the rear actuator 18 are in contact with and / or proximity to the cross members 63 and 65, respectively, such as when the loading front legs 20 and rear legs 40 are in contact with an underside and being loaded. When the front actuator sensor 62 and the rear actuator sensor 64 detect both the front actuator 16 and the rear actuator 18, respectively, in the first position, both the front actuator 16 and the rear actuator 18 are actuated and can be raised or lowered by the operator using the down button 56(-) and the up button 60(+).

[0044] 4A-4C collectively, an embodiment of a roll-in cot 10 is shown schematically that can be raised (FIGS. 4A-4C) or lowered (FIGS. 4C-4A) by simultaneous actuation (note that the front actuator 16 and rear actuator 18 are not shown in FIGS. 4A-4C for clarity). In the illustrated embodiment, the roll-in cot 10 comprises a support frame 12 having a pair of front legs 20 and rear legs 40 slidably engaged thereto. Each of the front legs 20 is rotatably coupled to a front hinge member 24 that is rotatably coupled to the support frame 12. Each of the rear legs 40 is rotatably coupled to a rear hinge member 44 that is rotatably coupled to the support frame 12. In the illustrated embodiment, the front hinge member 24 is rotatably coupled to the front end 17 of the support frame 12, and the rear hinge member 44 is rotatably coupled to the support frame 12 toward the rear end 19.

[0045] FIG. 4A shows the roll-in cot 10 in its lowest transport position. Specifically, the rear wheels 46 and front wheels 26 are in contact with the surface, the front legs 20 are slidably engaged with the support frame 12 such that the front legs 20 contact a portion of the support frame 12 toward the rear end 19, and the rear legs 40 are slidably engaged with the support frame 12 such that the rear legs 40 contact a portion of the support frame 12 toward the front end 17. FIG. 4B shows the roll-in cot 10 in an intermediate transport position, i.e., the front legs 20 and rear legs 40 are in an intermediate transport position along the support frame 12. FIG. 4C shows the roll-in cot 10 in its highest transport position, i.e., the front legs 20 and rear legs 40 are positioned along the support frame 12 such that the front load wheels 70 are at the maximum desired height that can be set high enough for the cot to be transported, as described in more detail herein.

[0046] The embodiments described herein may be utilized to lift a patient from a position beneath a vehicle (e.g., from the ground onto the loading surface of an ambulance) in preparation for loading the patient into the vehicle. Specifically, the roll-in cot 10 may be lifted from the lowest transport position ( FIG. 4A ) to an intermediate transport position ( FIG. 4B ) or to the highest transport position ( FIG. 4C ) by simultaneously actuating the front legs 20 and rear legs 40 and sliding them along the support frame 12. When lifted, actuation causes the front legs to slide toward the front end 17 and rotate about the front hinge member 24, and the rear legs 40 to slide toward the rear end 19 and rotate about the rear hinge member 44. Specifically, a user may interact with the operator control 57 ( FIG. 8 ) to provide an input (e.g., by pressing the up button 60 (+)) indicating a desire to lift the roll-in cot 10. The roll-in cot 10 is raised from its current position (e.g., the lowest transport position or an intermediate transport position) until it reaches the highest transport position. Once the highest transport position is reached, operation is automatically stopped, i.e., an additional input is required to raise the roll-in cot 10 higher. Input can be provided to the roll-in cot 10 and / or operator control 57 in any manner, such as electrical, audio, or manual.

[0047] The roll-in cot 10 may be lowered from the intermediate load position (FIG. 4B) or the highest load position (FIG. 4C) to the lowest load position (FIG. 4A) by simultaneously actuating the front legs 20 and rear legs 40 to slide along the support frame 12. Specifically, when lowered, actuation causes the front legs to slide toward the rear end 19 and rotate about the front hinge member 24, and the rear legs 40 to slide toward the front end 17 and rotate about the rear hinge member 44. For example, a user may provide an input (e.g., by pressing the lower button 56(-)) indicating a desire to lower the roll-in cot 10. Upon receiving the input, the roll-in cot 10 will lower from its current position (e.g., the highest transport position or the intermediate transport position) until it reaches the lowest transport position. Once the roll-in cot 10 reaches its lowest height (e.g., the lowest transport position), actuation may automatically stop. In some embodiments, the control box 50 provides a visual indication that the front legs 20 and rear legs 40 are operating while moving.

[0048] In one embodiment, when the roll-in cot 10 is in the highest transport position (FIG. 4C), the front legs 20 contact the support frame 12 at the front load indicator 221, and the rear legs 40 contact the support frame 12 at the rear load indicator 241. While the front load indicator 221 and the front load indicator 241 are shown in FIG. 4C as being located near the center of the support frame 12, further embodiments contemplate the front load indicator 221 and the rear load indicator 241 being located anywhere along the support frame 12. Some embodiments may have a load position that is higher than the highest transport position. For example, the highest load position may be set by actuating the roll-in cot 10 to the desired height and providing an input indicating that the highest transport position is desired.

[0049] When the roll-in cot 10 is in the lowest transport position (FIG. 4A), the front legs 20 may contact the support frame 12 at a front flat index 220 located near the rear end 19 of the support frame 12, and the rear legs 40 may contact the support frame 12 at a rear flat index 240 located near the front end 17 of the support frame 12. It is further noted that the term "index," as used herein, means a position along the support frame 12, which may correspond to a mechanical or electrical stop, such as, for example, an obstruction in a channel formed in the side member 15, a locking mechanism, or a stop controlled by a servo mechanism.

[0050] The front actuator 16 is operable to raise and lower the front end 17 of the support frame 12 independently of the rear actuator 18. The rear actuator 18 is operable to raise and lower the rear end 19 of the support frame 12 independently of the front actuator 16. By independently lifting the front end 17 or the rear end 19, the roll-in cot 10 can maintain the height of the support frame 12, or substantially the height of the support frame 12, as the roll-in cot 10 is rolled over an uneven surface, such as, for example, stairs or a slope. Specifically, when one of the front actuator 16 or the rear actuator 18 is in a second position relative to the first position, the set of legs not contacting the surface (i.e., the set of legs that are in tension, such as when the cot is lifted at one or both ends) will be actuated by the roll-in cot 10 (e.g., rolling the roll-in cot 10 over a curb).

[0051] 4C through 5E collectively, independent actuation can be utilized by the embodiments described herein to load a patient into a vehicle (note that the front actuator 16 and rear actuator 18 are not shown in FIGS. 4C through 5E for clarity). Specifically, the roll-in cot 10 can be loaded onto the loading surface 500 by the process described below. First, the roll-in cot 10 can be placed in its highest loading position or any position where the front load wheels 70 are positioned higher than the loading surface 500. As the roll-in cot 10 is loaded onto the loading surface 500, it can be raised via the front actuator 16 and rear actuator 18 to ensure the front load wheels 70 are positioned above the loading surface 500. In some embodiments, the front actuator 16 and rear actuator 18 can be simultaneously actuated to hold the height of the roll-in cot until the roll-in cot is in a predetermined position. Once the predetermined height is reached, the front actuator 16 can raise the front end 17 so that the roll-in cot 10 is tilted in its highest transport position. The roll-in cot 10 can then be loaded with its rear end 19 lower than its front end 17. The roll-in cot 10 can then be lowered until the front load wheels 70 contact the loading surface 500 (FIG. 5A).

[0052] As shown in FIG. 5A , the front load wheels 70 are above the load surface 500. In one embodiment, after the load wheels contact the load surface 500, the pair of front legs 20 can be actuated by the front actuator 16 because their front ends 17 are above the load surface 500. As shown in FIGS. 5A and 5B , the center of the roll-in cot 10 is clear of the load surface 500 (i.e., a sufficiently large portion of the roll-in cot 10 has not been loaded beyond the loading end 502 so that most of the weight of the roll-in cot 10 can be cantilevered and supported by the wheels 70, 26, and / or 30). When the front load wheels 70 are fully loaded, the roll-in cot 10 can be held upright with a reduced amount of force. Furthermore, in such a position, the front actuator 16 is in a second position associated with the first position, and the rear actuator 18 is in a first position associated with the second position. Thus, for example, when the lowering button 56(-) is actuated, the front legs 20 are raised (FIG. 5B).

[0053] In one embodiment, operation of the front actuator 16 and rear actuator 18 depends on the position of the roll-in cot 10 after the front legs 20 have been lifted sufficiently to cause the load-in state. In some embodiments, when the front legs 20 have been lifted, a visual indication is provided on the visual display component or GUI 58 of the control box 50 (FIG. 2). The visual indication may be color coded (e.g., green for actuated legs and red for non-actuated legs). Front Actuator The front actuator 16 may automatically cease operation once the front legs 20 are fully retracted. Additionally, while the front legs 20 are retracted, the front actuator sensor 62 may detect a second position relative to the first position, at which point the front actuator 16 may lift the front legs 20 at a faster rate. Note that full retraction may occur within, for example, approximately two seconds.

[0054] 3, 5B, and 7 collectively, the rear actuator 18 can be automatically activated by one or more processors 100 to assist in loading of the roll-in cot 10 onto the loading surface 500 after the front load wheels 70 have been loaded onto the loading surface 500. Specifically, the front angle sensor 66 detects the front angle α f If the one or more processors 100 detect that the front load wheels 70 are in contact with the load surface 500, the one or more processors 100 can automatically activate the rear actuator 18 to extend the rear legs 40 and raise the rear end 19 of the roll-in cot 10 above the original loading height. The predetermined angle can be any angle that indicates a loading condition, or a percentage of extension, such as, for example, less than about 10% extension of the front legs 20 in one embodiment, or less than about 5% extension of the front legs 20 in another embodiment. In some embodiments, the one or more processors 100 can determine whether the load end sensor 76 indicates that the front load wheels 70 are in contact with the load surface 500 before automatically activating the rear actuator 18 to extend the rear legs 40.

[0055] In a further embodiment, the one or more processors 100 monitor the rear angular rate sensor 68 to determine the rear angle α b is changing due to the operation of the rear actuator 18. To protect the rear actuator 18, the one or more processors 100 may b indicates improper operation, the operation of the rear actuator 18 can be automatically stopped. For example, the rear angle α b If the change fails for a predetermined period of time (eg, about 200 milliseconds), the one or more processors 100 can automatically deactivate the actuator 18 .

[0056] 5A-5E collectively, after the front legs 20 are retracted, the roll-in cot 10 can be urged forward until the middle load wheels 30 are loaded onto the loading surface 500 (FIG. 5C). As shown in FIG. 5C, the front end 17 and the middle section of the roll-in cot 10 are above the loading surface 500. As a result, the pair of rear legs 40 can be retracted by the rear actuator 18. Specifically, the middle load sensor 77 can detect when the middle section is above the loading surface 500. When the middle section is above the loading surface 500 during the loading state (e.g., the front legs 20 and rear legs 40 have an angle delta greater than that of the loading state), the rear actuator can be activated. In one embodiment, an indication can be provided by the control box 50 (FIG. 2) when the middle loading wheels 30 are completely past the loading end 502 and the rear legs 40 are ready to be activated (e.g., an audio buzzer can be provided).

[0057] It is noted that when any portion of the roll-in cot 10 that can act as a fulcrum is fully over the loading end 502, the center of the roll-in cot 10 is above the loading surface 500 such that the rear legs 40 can be retracted with a small amount of force required to lift the rear end 19 (e.g., less than half the weight of the roll-in cot 10 that can be loaded is required to be supported by the rear end 19). It is further noted that detection of the position of the roll-in cot 10 can be achieved by sensors located on the roll-in cot 10 and / or by sensors on or adjacent to the loading surface 500. For example, an ambulance may have sensors that detect the position of the roll-in cot 10 relative to the loading surface 500 and / or loading end 502 and communication means to send information to the roll-in cot 10.

[0058] 5D, after the rear legs 40 are retracted, the roll-in cot 10 may be urged forward. In one embodiment, while retracting the rear legs, the rear actuator sensor 64 detects that the rear legs 40 have been ejected, at which point the rear actuator 18 will urge the rear legs 40 forward at a faster rate. 40 may be raised. When rear legs 40 are fully retracted, rear actuator 18 may automatically cease operation. In one embodiment, an indication may be provided by control box 50 when roll-in cot 10 is fully past load end 502 (e.g., fully loaded or loaded so that rear actuator is past load end 502) (FIG. 2).

[0059] Once the cot is loaded onto the loading surface (FIG. 5E), the front actuator 16 and rear actuator 18 can be deactivated by securely coupling them to the ambulance. The ambulance and roll-in cot 10 can each be attached with suitable components for mating, for example, male and female connectors. Additionally, the roll-in cot 10 can be equipped with a sensor that transmits a signal that registers when the cot is fully positioned within the ambulance, resulting in the locking of the actuators 16, 18. In yet another embodiment, the roll-in cot 10 can be connected to cot fasteners, which secure the actuators 16, 18 and further couple to the ambulance's power system to charge the roll-in cot 10. A commercially available example of such an ambulance charging system is the Integrated Charging System (ICS) manufactured by Furno Washington.

[0060] 5A-5E collectively, as previously discussed, independent actuation may be utilized by embodiments described herein to unload the roll-in cot 10 from the loading surface 500. Specifically, the roll-in cot 10 may be released from its fasteners and urged toward the loading surface 502 (FIGS. 5E-5D). Once the rear wheels 46 are released from the loading surface 500 (FIG. 5D), the rear actuator sensors 64 detect that the rear legs 40 are being unloaded and allow the rear legs 40 to be lowered. In some embodiments, the sensors may prevent the rear legs 40 from lowering if, for example, the sensors detect that the cot is not in the correct position (e.g., the rear wheels 46 are above the loading surface 500 or the mid-load wheels 30 are away from the loading end 502). In one embodiment, an indication may be provided by the control box 50 (FIG. 2) when the rear actuator 18 is actuated (e.g., the middle load wheel 30 is near the load end 502 and / or the rear actuator sensor 64 that detects the second position relative to the first position).

[0061] 5D and 7 collectively, the line indicator 74 can be automatically activated by one or more processors to project a line onto the load surface 500 indicating the center of balance of the roll-in cot 10. In one embodiment, the one or more processors 100 can receive input from a center load sensor 77 indicating the center load wheel 30 contacting the load surface. The one or more processors 100 can also receive input from a rear actuator sensor 64 indicating the rear actuator 18 in a second position relative to the first position. When the center load wheel 30 contacts the load surface and the rear actuator 18 is in the second position relative to the first position, the one or more processors can automatically cause the line indicator 74 to project a line. Thus, when the line is projected, an operator can be provided with a visual indication on the load surface that can be utilized as a reference for loading, unloading, or both. Specifically, the operator can delay removing the roll-in cot 10 from the loading surface 500 as the line approaches the load end 502, thereby reducing the additional time required for the rear legs 40. Such an operation can minimize the time required for the operator to support the weight of the roll-in cot 10.

[0062] 5A-5E collectively, when the roll-in cot 10 is properly positioned relative to the load end 502, the rear legs 40 can be extended (FIG. 5C). For example, the rear legs 40 can be extended by pressing the up button 60 (+). In one embodiment, a visual indication is provided on the visual display component or GUI 58 of the control box 50 when the rear legs 40 are lowered (FIG. 2). For example, a visual indication can be provided when the roll-in cot 10 is in the loaded state and the rear legs 40 and / or the front legs 20 are actuated. Such a visual indication can signal that the roll-in cot should not be moved (e.g., pulled, pushed, or rolled) while it is being actuated. When the rear legs 40 contact the floor (FIG. 5C), the rear legs 40 are loaded and the rear actuator sensor 64 deactivates the rear actuator 18.

[0063] When the sensor detects that the front legs 20 are off the load surface 500 (FIG. 5B), the front actuator 16 is activated. In one embodiment, an indication may be provided by the control box 50 when the center load wheels 30 are at the load end 502 (FIG. 2). The front legs 20 are extended until they contact the floor (FIG. 5A). For example, the front legs 20 may be extended by pressing the up button 60 (+). In one embodiment, when the front legs 20 are lowered, a visual indication is provided on the visual display component or GUI 58 of the control box 50 (FIG. 2).

[0064] 7 and 8 collectively, activation of any of the operator controls 57 can generate a control signal that is received by one or more processors 100. The control signal can be coded to indicate that one or more operator controls have been activated. The coded control signal can be associated with a pre-programmed cot function. Upon receiving the coded control signal, the one or more processors 100 can automatically execute the cot function. In some embodiments, the cot function can include a door release function that sends a signal to a vehicle to open the door. Specifically, the roll-in cot 10 can include communications circuitry 82 communicatively coupled to the one or more processors 100. The communications circuitry 82 can be configured to exchange communications signals with a vehicle, such as an ambulance, for example. The communications circuitry 82 can include a wireless communications device, such as, but not limited to, a personal area network transceiver, a local area network transceiver, a radio frequency identification (RFID), an infrared transmitter, a cellular transceiver, etc.

[0065] One or more operator control 57 control signals can be associated with a door release function. Upon receiving a control signal associated with the door release function, one or more processors 100 can cause communication circuitry 82 to transmit a door release signal to vehicles within range of the door release signal. Upon receiving the door release signal, the vehicle can open its door to accommodate the roll-in cot 10. Additionally, the door release signal can be coded to identify the roll-in cot 10 via, for example, a classification, a unique identifier, etc. In a further embodiment, one or more operator control 57 control signals can be associated with a door close function that operates similarly to the door release function and causes the vehicle doors to close.

[0066] 3, 7 and 8 collectively, the cot feature may include an auto-leveling feature that automatically levels the front end 17 and rear end 19 of the roll-in cot 10 against gravity. Thus, the front angle α f , back angle α b 17. The rear end 19 may be automatically raised to level the roll-in cot 10 against gravity, or the front end 17 may be automatically lowered to level the roll-in cot 10 against gravity, or both. Conversely, if the rear end 19 is higher than the front end 17 with respect to gravity, the rear end 19 may be automatically lowered to level the roll-in cot 10 against gravity, or the front end 17 may be automatically raised to level the roll-in cot 10 against gravity, or both.

[0067] 2 and 7 collectively, the roll-in cot 10 may include a gravity reference sensor 80 configured to provide a gravity reference signal indicative of an earth frame of reference. The gravity reference sensor 80 may include an accelerometer, gyroscope, inclinometer, etc. The gravity reference sensor 80 can be communicatively coupled to one or more processors 100 and can be coupled to the roll-in cot 10 at a location suitable for detecting the level of the roll-in cot 10 relative to gravity, such as the support frame 12.

[0068] One or more operator controls 57 control signals may be associated with the automatic leveling function. Specifically, any of the operator controls 57 may send a control signal associated with enabling or disabling the automatic leveling function. Alternatively, other cot functions may selectively enable or disable the cot leveling function. When the automatic leveling function is enabled, a gravity reference signal may be received by one or more processors 100. The one or more processors 100 may automatically compare the gravity reference signal with an earth reference frame indicative of earth level. Based on the comparison, the one or more processors 100 may automatically quantify the difference between the earth reference frame and the current height of the roll-in cot 10, as indicated by the gravity reference signal. This difference may be converted into a desired adjustment amount to level the front end 17 and the rear end 19 of the roll-in cot 10 relative to gravity. For example, this difference may be calculated as a front angle α f , back angle α b , or both. In this manner, one or more processors 100 can automatically activate actuators 16, 18 until the desired amount of adjustment is achieved. That is, front angular rate sensor 66, rear angular rate sensor 68, and gravity reference sensor 80 can be used for feedback.

[0069] 1, 9, and 10 collectively, one or more of the front wheels 26 and rear wheels 46 may be provided with a wheel assembly 110 for automatic actuation. Thus, while the wheel assembly 110 is shown in FIG. 9 as being coupled to the linkage 27, the wheel assembly may be coupled to the linkage 47. The wheel assembly 110 may include a wheel steering module 112 for orienting the wheels 114 relative to the roll-in cot 10. The wheel steering module 112 may include a control shaft 116 defining an axis of rotation 118 for steering, a rotation mechanism 90 for actuating the control shaft 116, and a fork 120 defining an axis of rotation 122 for the wheels 114. In some embodiments, the control shaft 116 may be rotatably coupled to the linkage 27 such that the control shaft 116 rotates about the axis of rotation 118. The rotational movement may be facilitated by a bearing 124 disposed between the control shaft 116 and the linkage 27.

[0070] The rotation mechanism 90 can be operably coupled to the control shaft 116 and can be configured to advance the control shaft 116 about the axis of rotation 118. The rotation mechanism 90 can include a servo motor and an encoder. Thus, the rotation mechanism 90 can directly actuate the control shaft 116. In some embodiments, the rotation mechanism 90 can be configured to rotate freely, allowing the control shaft 116 to pivot about the axis of rotation 118 when the roll-in cot 10 is urged to move. Optionally, the rotation mechanism 90 can be fixed in place and configured to resist movement of the control shaft 116 about the axis of rotation 118.

[0071] 7 and 9-10 collectively, the wheel assembly 110 may include a pivot lock module 130 for locking the fork 120 in a substantially fixed orientation. The pivot lock module 130 may include a bolt member 132 for engaging a catch member 134, a biasing member 136 for biasing the bolt member 132 away from the catch member 134, and a cable 138 for transmitting mechanical energy between the lock actuator 92 and the bolt member 132. The lock actuator 92 may include a servo motor and an encoder. It can be prepared.

[0072] The bolt member 132 can be received in a channel formed through the coupling portion 27. The bolt member 132 can be moved into the channel from the channel to an interference position within the catch member 134, where the bolt member 132 is free of the catch member 134. A biasing member 136 can bias the bolt member 132 toward the interference position. A cable 138 can be coupled to the bolt member 132 and operably engaged with the locking actuator 92 such that the locking actuator 92 can transmit sufficient force to overcome the biasing member 136, moving the bolt member 132 from the interference position and releasing the bolt member 132 from the catch member 134.

[0073] In some embodiments, the catch member 134 can be formed on or coupled to the fork 120. The catch member 134 can include a rigid body that forms a complementary orifice with the bolt member 132. Thus, the bolt member 132 can move in and out of the catch member through the orifice. The rigid body can be configured to impede movement of the catch member 134 caused by movement of the control shaft 116 about the rotation axis 118. Specifically, when in the interference position, the bolt member 132 can be restrained by the rigid body of the catch member 134 such that movement of the control shaft 116 about the rotation axis 118 is substantially reduced.

[0074] 7 and 9-10 collectively, the wheel assembly 110 may include a brake module 140 to oppose rotation of the wheel 114 about the axis of rotation 122. The brake module 140 includes a brake piston 142 and transmits a braking force to a brake pad 144, a biasing member 146 that biases the brake piston 142 away from the wheel 114, and the brake mechanism 94 that provides the braking force to the brake piston 142. In some embodiments, the brake mechanism 94 may include a servo motor and an encoder. The brake mechanism 94 may be operably coupled to a brake cam 148 such that the brake mechanism 94 is actuated to cause the brake cam 148 to rotate about the axis of rotation 150. The brake piston 142 may operate as a cam follower. Thus, rotational motion of the brake cam 148 can be converted into linear motion of the brake piston 142, moving the brake piston 142 toward and away from the wheel 114, depending on the direction of rotation of the brake cam 148.

[0075] The brake pads 144 can be coupled to the brake pistons 142 such that movement of the brake pistons 142 toward and away from the wheel 114 causes the brake pads 144 to engage and disengage from the wheel 114. In some embodiments, the brake pads 144 can be shaped to conform to the shape of the portion of the wheel 114 that the brake pads 144 contact during braking. If desired, the contact surface of the brake pads 144 can include ridges and grooves.

[0076] 7, each of the rotation mechanism 90, the locking actuator 92, and the brake mechanism 94 can be communicatively coupled to one or more processors 100. Thus, any of the operator controls 57 can be coded to provide control signals operable to automatically perform any of the operations of the rotation mechanism 90, the locking actuator 92, the brake mechanism 94, or any combination thereof. Alternatively, any cot function can be automatically performed by any of the operations of the rotation mechanism 90, the locking actuator 92, the brake mechanism 94, or any combination thereof.

[0077] 3 and 7-10 collectively, any of the operator controls 57 may be coded to provide a control signal operable to cause the rotation mechanism 90 to actuate the forks 120 to the outward position (shown in dashed lines in FIG. 10). An easy bed function (e.g., chair function) can be configured such that the rolling mechanism 90 selectively activates the forks 120 in the outboard position. When positioned in the outboard position, the forks 120 and wheels 114 can be oriented perpendicular to the length of the roll-in cot 10 (from the front end 17 to the rear end 19). Thus, the front wheels 26, the rear wheels 46, or both can be positioned in the outboard position such that the front wheels 26, the rear wheels 46, or both are directed toward the support frame 12.

[0078] 8 and 11-12 collectively, the cot function can include an escalator function configured to hold the patient supported by the patient support 14 at a height while the roll-in cot 10 is supported by the escalator. Accordingly, any of the operator controls 57 can be coded to provide a control signal operable to activate, deactivate, or both the elevator function. In some embodiments, the escalator function can be configured to orient the roll-in cot 10 so that the patient faces the same direction relative to the incline of the escalator while riding on the ascending escalator 504 or the descending escalator 506. Specifically, the escalator function can ensure that the rear end 19 of the roll-in cot 10 faces the downward incline of the ascending escalator 504 and the descending escalator 506. In other words, the roll-in cot 10 can be configured so that the rear end 19 of the roll-in cot is loaded last on the ascending escalator 504 or the descending escalator 506.

[0079] 13, the escalator function can be implemented by method 300. While method 300 is illustrated in FIG. 13 as including multiple enumerated steps, it is noted that any of the steps of method 300 can be performed in any order or omitted without departing from the scope of the present disclosure. In step 302, the support frame 12 of the roll-in cot 10 can be retracted. In some embodiments, the roll-in cot 10 can be configured to automatically detect that the support frame 12 is retracted before continuing with the elevator function. Alternatively, the roll-in cot 10 can be configured to automatically retract the support frame 12.

[0080] 7, 8, 11, and 13 collectively, the roll-in cot can be loaded onto an ascending escalator 504. The ascending escalator 504 can form an elevator gradient Θ relative to the landing of the previous ascending escalator 504. In step 304, the front wheels 26 can be loaded onto the ascending escalator 504. Once the front wheels 26 are loaded onto the ascending escalator 504, the up button 60(+) can be activated. While the escalator function is active, a control signal transmitted from the up button 60(+) can be received by one or more processors 100. In response to the control signal transmitted from the up button 60(+), the one or more processors can execute machine-readable instructions to automatically activate the brake mechanism 94. Thus, the front wheels 26 can be locked to prevent the front wheels from rolling. As the up button 60(+) remains activated, the one or more processors may automatically cause the visual display components to provide an image showing the front legs 20 being activated.

[0081] In step 306, the raise button 60(+) can remain activated. In response to a control signal transmitted from the raise button 60(+), one or more processors can execute machine-readable instructions to automatically perform a cot leveling function. Thus, the cot leveling function dynamically activates the front legs 20 to adjust the front angle α f Therefore, as the roll-in cot 10 is gradually propelled up the upward escalator 504, the forward angle α f can be modified to hold the support frame 12 at a substantial height.

[0082] In step 308, the up button 60(+) can be deactivated once the rear wheels 46 are loaded onto the up escalator 504. In response to a control signal transmitted from the up button 60(+), one or more processors can execute machine-readable instructions to automatically activate the braking mechanism 94. Thus, the rear wheels 46 can be locked to prevent the rear wheels 46 from rolling. Once the front and rear wheels 26, 46 are loaded onto the up escalator 504, the cot leveling function adjusts the front angle α to match the escalator angle Θ. f can be adjusted.

[0083] In step 310, the up button 60(+) can be actuated with the front wheels 26 approaching the end of the ascending escalator 504. In response to a control signal transmitted from the up button 60(+), one or more processors can execute machine-readable instructions to automatically activate the braking mechanism 94. Thus, the front wheels 26 can be released to allow the front wheels 26 to roll. As the front wheels 26 exit the ascending escalator 504, a cot leveling function can adjust the front angle α f can be dynamically adjusted to hold the support frame 12 at the height of the roll-in cot 10.

[0084] In step 312, the position of the front legs 20 can be automatically determined by one or more processors 100. Thus, as the front end 17 of the roll-in cot 10 exits the ascending escalator 504, the front angle α f The roll-in cot 10 may reach a predetermined angle, such as, but not limited to, an angle corresponding to the front legs 20 being fully extended. Upon reaching the predetermined height, the one or more processors 100 may execute machine-readable instructions to automatically activate the brake mechanism 94. Thus, the rear wheels 46 may be released to allow the rear wheels 46 to roll. Thus, when the rear end 19 of the roll-in cot 10 reaches the end of the ascending escalator 504, the roll-in cot 10 may roll off the ascending escalator 504. In some embodiments, the escalator mode may be deactivated by activating one of the operator controls 57. Alternatively, the escalator mode may be deactivated for a predetermined time (e.g., about 15 seconds) after the rear wheels 46 are released.

[0085] 7, 8, 12, and 13 collectively, the roll-in cot 10 can be loaded onto the descending escalator 506 in a manner similar to that in which it was loaded onto the ascending escalator 504. In step 304, the rear wheels 46 can be loaded onto the descending escalator 506. Once the rear wheels 46 are loaded onto the descending escalator 506, the down button 56(-) can be activated. While the escalator function is active, a control signal transmitted from the down button 56(-) can be received by one or more processors 100. In response to the control signal transmitted from the down button 56(-), the one or more processors can execute machine-readable instructions to automatically activate the braking mechanism 94. Thus, the rear wheels 46 can be locked to prevent the rear wheels 46 from rolling. Because the down button 56(-) remains activated, the one or more processors may automatically cause the visual display components to provide an image showing the front legs 20 being activated.

[0086] In step 306, the lowering button 56(-) remains activated. In response to a control signal transmitted from the lowering button 56(-), one or more processors may execute machine-readable instructions to automatically activate the cot leveling function. Thus, the cot leveling function dynamically activates the front legs 20 to adjust the front angle α f Therefore, as the roll-in cot 10 is gradually propelled down the downward escalator 506, the forward angle α f can be modified to hold the support frame 12 at a substantial height.

[0087] In step 308, the down button 56(-) can be deactivated when the front wheels 26 are loaded onto the down escalator 506. In response to a control signal transmitted from the down button 56(-), the one or more processors 100 can execute machine-readable instructions to automatically activate the brake mechanism 94. Thus, the front wheels 26 can be locked to prevent the front wheels 26 from rolling. Once the front wheels 26 and rear wheels 46 are loaded onto the down escalator 506, the cot leveling function adjusts the front angle α to match the escalator angle Θ. f can be adjusted.

[0088] In step 310, the down button 56(-) can be actuated with the rear wheels 46 approaching the end of the down escalator 506. In response to the control signal transmitted from the down button 56(-), one or more processors can execute machine-readable instructions to automatically activate the braking mechanism 94. Thus, the rear wheels 46 can be released to allow the rear wheels 46 to roll. As the rear wheels 46 exit the down escalator 506, the cot leveling function adjusts the front angle α f can be dynamically adjusted to hold the support frame 12 at the substantial height of the roll-in cot 10.

[0089] In step 312, the position of the front legs 20 can be automatically determined by one or more processors 100. Thus, as the rear end 19 of the roll-in cot 10 exits the descending escalator 506, the front angle α f The front wheels 26 may reach a predetermined angle, such as, but not limited to, an angle corresponding to fully extended front legs 20. Upon reaching the predetermined height, one or more processors 100 may execute machine-readable instructions to automatically activate brake mechanism 94. Thus, the front wheels 26 may be released to allow the front wheels 26 to roll. Thus, when the front end 17 of the roll-in cot 10 reaches the end of the descending escalator 506, the roll-in cot 10 may roll off the descending escalator 506. In some embodiments, the elevator mode may be deactivated for a predetermined time (e.g., about 15 seconds) after the front wheels 26 are released.

[0090] 4B, 7, and 8 collectively, the cot functions can include a cardiopulmonary resuscitation (CPR) function operable to automatically adjust the roll-in cot 10 to an ergonomic position for medical personnel to administer effective CPR in the event of cardiac arrest. Any of the operator controls 57 can be coded to provide a control signal operable to activate, deactivate, or both, the CPR function. In some embodiments, the CPR function can be automatically deactivated when the roll-in cot is in an ambulance, connected to a cot fastener, or both.

[0091] Upon activation of the CPR function, a control signal can be sent and received by the one or more processors 100. In response to the control signal, the one or more processors can execute machine-readable instructions to automatically activate the brake mechanism 94. Thus, the front wheels 26, the rear wheels 46, or both, can be locked to prevent the roll-in cot 10 from rolling. The roll-in cot 10 can be configured to provide an audio indication that the CPR function has been activated. Additionally, the height of the support frame 12 of the roll-in cot 10 can be slowly adjusted to an intermediate transport position (FIG. 4B) corresponding to a substantially level height for performing CPR. For example, chair height, bed height, between about 12 inches (about 30.5 cm) and about 36 inches (about 91.4 cm), or any other predetermined height suitable for performing CPR. In some embodiments, one or more operator controls 57 can be configured to lock or release the front wheels 26, the rear wheels 46, or both. Activating the operator controls 57 to lock or release the front wheels 26, the rear wheels 46, or both, can automatically deactivate the CPR feature, and normal operation of the roll-in cot 10 can then be restored via the down button 56(-) and the up button 60(+).

[0092] 3, 7, and 8 collectively, the cot functionality can include an extracorporeal membrane oxygenation (ECMO) function operable to automatically maintain the front end 17 of the roll-in cot 10 at a higher position than the rear end 19 thereof during operation of the roll-in cot 10. Upon activation of the ECMO function, control signals can be sent and received by the one or more processors 100. In response to the control signals, the one or more processors 100 can execute machine-readable instructions to automatically activate the locking actuator 92. Thus, the front wheels 26, the rear wheels 46, or both, can be prevented from pivoting or rotating. Additionally, the front angle α f , back angle α bECMO function is activated, the down button 56(-) and the up button 60(+) can be utilized to adjust the average height of the support frame 12, while the down angle is automatically maintained. When the ECMO function is deactivated, normal operation of the roll-in cot 10 can be restored.

[0093] It should be understood that the embodiments described herein can be utilized to transport patients of various sizes by coupling a support surface, such as a patient support surface, to the support frame. For example, a lift-off stretcher or incubator can be detachably coupled to the support frame. Thus, the embodiments described herein can be utilized to transport patients ranging from infants to obese patients. Furthermore, the embodiments described herein can be loaded into and / or unloaded from an ambulance by an operator manipulating simple controls to independently actuate the articulated legs (e.g., pressing a down button (-) to load the cot into the ambulance or a up button (+) to unload the cot from the ambulance). Specifically, a roll-in cot can receive an input signal, such as from an operator's control. The input signal can indicate a first direction or a second direction (down or up). When the signal indicates the first direction, the front pair of legs and the rear pair of legs can be independently lowered, or when the signal indicates the second direction, the front pair of legs and the rear pair of legs can be independently raised.

[0094] It is further noted that terms such as "preferably," "generally," "commonly," and "typically" are not used herein to limit the scope of the claimed embodiments or to imply that a particular feature is critical, essential, or even essential to the structure or function of the claimed embodiments. Rather, these terms are merely intended to highlight alternative or additional features that may or may not be utilized in a particular embodiment of the present disclosure.

[0095] It is further noted that for purposes of description and definition of this disclosure, the term "substantially" is used herein to express the inherent degree of uncertainty that may result from any quantitative comparison, value, measurement, or other expression. The term "substantially" is also utilized herein to express the degree to which a quantitative expression may vary from the stated reference without resulting in a change in the fundamental functionality of the subject matter under discussion.

[0096] With reference to particular embodiments, it will be apparent that modifications and variations are possible without departing from the scope of the present disclosure as defined in the appended claims. More specifically, although some aspects of the present disclosure are preferred or particularly advantageous in the present invention, it is not intended that the present disclosure be necessarily limited to the preferred aspects of particular embodiments.

Claims

1. 1. A method of operating a powered ambulance cot for loading a patient into an emergency vehicle having a loading surface, comprising: supporting the patient on a cot in a power ambulance, the cot comprising: a support frame having a pair of front load wheels and supporting the patient; a pair of front landing gears each having a front wheel and an intermediate load wheel; Each of the pair of rear legs has a rear wheel, a cot actuation system including a front actuator that moves the pair of front legs together and interconnects the support frame and the pair of front legs, and a rear actuator that moves the pair of rear legs together and interconnects the support frame and the pair of rear legs; a cot control system operably connected to the cot actuation system for controlling the independent raising and lowering of the pair of front legs and the pair of rear legs, the cot control system detecting the presence of a signal requesting a change in height of the support frame and causing the cot actuation system to move either or both of the pair of front wheels and rear wheels relative to the support frame via raising and lowering the pair of front legs and / or the pair of rear legs, the cot control system having operator controls; The method comprises: detecting the presence of a signal requesting that the support frame be raised and, via the cot control system activating the cot actuation system, raising the support frame of the electric ambulance cot to an elevation that positions the front load wheels above the loading surface of the emergency vehicle; rolling the cot of the electric ambulance towards the emergency vehicle until the front load wheels are above the loading surface; detecting the presence of a signal requesting that the support frame be lowered and, via the cot control system, operating the cot actuation system, lowering the support frame until the front load wheels contact the load surface; detecting the presence of a signal requesting that the front legs be lifted and that the front load wheels are in contact with the load surface, and via the cot control system activating the cot actuation system, lifting the pair of front legs relative to the support frame until the front wheels of each of the front legs are at or above the load surface; further rolling the cot of the electric ambulance onto the loading surface until the middle load wheel of each of the front legs rests on the loading surface; detecting the presence of a signal requesting that the rear legs be lifted and operating, via the cot control system, the cot actuation system to lift the pair of rear legs relative to the support frame until the rear wheels are at or above the loading surface; further rolling the cot of the electric ambulance on the loading surface until the rear wheels of each of the rear legs rest on the loading surface; upon receiving user input via the operator control of at least one of the following actions: (a) lifting the support frame; (b) lowering the support frame; (c) lifting the pair of front legs relative to the support frame; and (d) lifting the pair of rear legs relative to the support frame, the cot control system sends control signals from the operator control to one or more processors to operate one or more of the front actuators and the rear actuators, thereby prioritizing at least one of these actions over other actions; and wherein the front and rear actuators are simultaneously actuated to maintain the cot level against gravity when raising the support frame of the electric ambulance cot to a height that positions the front load wheels above the loading surface of the emergency vehicle via the cot control system which detects the presence of a signal requesting that the support frame be raised and actuates the cot actuation system; the height is predetermined, and once the predetermined height is reached, the front actuator is further actuated by the cot control system to raise the front end of the cot; the cot control system is operably connected to brake mechanisms associated with each of the front and rear wheels, which when actuated prevent the respective wheels from rolling, and is operably connected to an operator control that, upon actuation, provides a signal to adjust the height of the cot support frame to an intermediate transport position corresponding to a substantially level height for performing CPR and actuate the brake mechanisms associated with each of the front and rear wheels.

2. 2. The method of claim 1, wherein the cot control system, in addition to detecting the presence of the signal requesting that the front legs be lifted, activates the cot actuation system to lift the pair of front legs relative to the support frame upon detecting the front load wheels contacting the load surface.

3. 2. The method of claim 1, wherein the cot control system, in addition to detecting the presence of the signal requesting that the rear legs be lifted, activates the cot actuation system to lift the pair of rear legs relative to the support frame upon detecting the medium load wheels contacting the load surface.

4. 2. The method of claim 1, wherein the cot control system, upon detecting the presence of the signal requesting that the front legs be raised, activates the cot actuation system to extend the pair of rear legs relative to the support frame upon detecting the front load wheels contacting the load surface.

5. 1. A method of operating a powered ambulance cot to remove a patient from an emergency vehicle having a loading surface, comprising: supporting the patient on a cot in a power ambulance, the cot comprising: a support frame having a pair of front load wheels and supporting the patient; a pair of front landing gears each having a front wheel and an intermediate load wheel; a pair of rear legs each having a rear wheel; a cot actuation system including a front actuator that moves the pair of front legs together and interconnects the support frame and the pair of front legs, and a rear actuator that moves the pair of rear legs together and interconnects the support frame and the pair of rear legs; a cot control system operably connected to the cot actuation system for controlling the independent raising and lowering of the pair of front legs and the pair of rear legs, the cot control system detecting the presence of a signal requesting a change in height of the support frame and causing the cot actuation system to move either or both of the pair of front wheels and rear wheels relative to the support frame via raising and lowering the pair of front legs and / or the pair of rear legs, the cot control system having operator controls; The method comprises: rolling the cot of the electric ambulance over the loading surface until only the rear wheels of each of the rear legs clear the loading surface; detecting the presence of a signal requesting that the rear legs be extended and that the rear wheels of each of the rear legs are clear of the loading surface, and via the cot control system actuating the cot actuation system, lowering the pair of rear legs relative to the support frame until the rear wheels support the cot below the loading surface; further rolling the electric ambulance cot off the loading surface until both the front wheel and mid-load wheel of each front landing gear clear the loading surface but the front load wheels still contact the loading surface; detecting the presence of a signal requesting that the front legs be extended and actuating, via the cot control system, the cot actuation system, to lower the pair of front legs relative to the support frame until the front wheels of each of the front legs support the support frame below the load surface; rolling down the electric ambulance cot from the emergency vehicle; upon receiving user input via the operator control of at least one of the following actions: (a) lifting the support frame; (b) lowering the support frame; (c) lifting the pair of front legs relative to the support frame; and (d) lifting the pair of rear legs relative to the support frame, the cot control system sends control signals from the operator control to one or more processors to operate one or more of the front actuators and the rear actuators, thereby prioritizing at least one of these actions over other actions; The cot control system is operably connected to an ECMO (Ectocal Centrifugal Oxygenator) operator control that, when activated, provides a signal indicative of activation of an ECMO function, which maintains a front end of the cot higher than a rear end of the cot during operation of the cot, the method including activating the ECMO operator control to cause the control system to retract or extend the rear legs and retract or extend the front legs to maintain the front end of the cot higher than the rear end of the cot.

6. 6. The method of claim 5, wherein the cot control system is operably connected to a line indicator, the method including projecting a line via the line indicator when the cot control system detects that the middle load wheel of each front leg is in contact with the load surface and the rear wheels are clear of the load surface.

7. 7. A method according to claim 5 or claim 6, wherein the cot control system is operably connected to brake mechanisms associated with each of the front and rear wheels, which when actuated prevent the respective wheels from rolling, and is operably connected to an operator control which, upon actuation, provides a signal and, in response to the signal, adjusts the height of the cot support frame to an intermediate transport position corresponding to a substantially level height for performing CPR and actuates the brake mechanisms associated with each of the front and rear wheels.

8. 5. The method of any of claims 1 to 4, wherein the cot control system is operably connected to an ECMO operator control that, when activated, provides a signal indicative of activation of an ECMO function, which maintains a front end of the cot higher than a rear end of the cot during operation of the cot, the method comprising activating the ECMO operator control to cause the control system to retract or extend the rear legs and retract or extend the front legs to maintain the front end of the cot higher than the rear end of the cot.

9. 9. The method of any of claims 1 to 8, wherein the cot control system is operably connected to a display, and the method includes displaying a visual indication of the current positions of the front and rear legs and a color coding indicating actuated legs in a first color and inactive legs in a second color.

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