Patient transport apparatus having a powered drive system with first and second user interfaces

Abstract

A patient transport apparatus for transporting a patient, including a support structure defining a head end and a foot end and including a base and a patient support deck. A drive system facilitates movement of the support structure. A first user interface is located proximate the head end, and a second user interface is located proximate the foot end. A controller is configured to operate the drive system between: a run mode to operate the drive system to facilitate movement of the support structure in response to a first user being in engagement with the first user interface and a second user being in engagement with the second user interface, and a stop mode to inhibit operation of the drive system in response to one of the first and second users not being in engagement with one of the first and second user interfaces.

Description

Docket No. 060252.01207PATIENT TRANSPORT APPARATUS HAVING A POWERED DRIVE SYSTEM WITH FIRST AND SECOND USER INTERFACESCROSS-REFERENCE TO RELATED APPLICATION(S)

[0001] The subject patent application claims priority to and all the benefits of United States Provisional Patent Application No. 63 / 775,046 filed on March 20, 2025. the disclosure of which is hereby incorporated by reference in its entirety.BACKGROUND

[0002] Traditionally, mobile medical devices (e.g., mobile medical imaging equipment, anesthesia equipment, respiratory equipment, crash carts, patient transport apparatuses, patient support apparatuses, patient lift / transfer devices, supply carts, and the like) typically have unpowered caster wheels, and thus require manual maneuvering by healthcare professionals, often necessitating significant physical effort. The implementation of powered systems facilitates minimizing an amount of physical effort required to maneuver the mobile medical device. However, there is an unmet need in the field for a drive system that can operate in a variety of modes to allow for safe maneuvering of the mobile medical device in a variety of environments.SUMMARY

[0003] One general aspect of the present disclosure is directed to a patient transport apparatus for transporting a patient. The patient transport apparatus comprising: a support structure defining a head end and a foot end and including: a base, and a patient support deck operatively attached to the base and defining a patient support surface to support the patient; a drive system configured to facilitate movement of the support structure along a floor surface; a first user interface located proximate the head end and being arranged for engagement by a first user; a second user interface located proximate the foot end and being arranged for engagement by a second user: and a controller in communication with the drive system, the first user interface, and the second user interface, and being configured to operate the drive system between: a run mode to operate the drive system to facilitate movement of the support structure along the floor surface in response to the first user being in engagement with the first user interface and the second user being in engagement with the second user interface; and a stop mode to inhibit the drive system from facilitating movement of the support structure along the floor surface in response to one of the first user not being in engagement with the first user interface and the second user not being in engagement with the second user interface.Docket No. 060252.01207

[0004] Another general aspect of the present disclosure includes a patient transport apparatus for transporting a patient comprising: a support structure including: a base, and a patient support deck operatively attached to the base and defining a patient support surface to support the patient; a user interface arranged for engagement by a user; a drive system configured to facilitate movement of the support structure along a floor surface based on engagement of the user interface by the user; an environment sensor configured to provide a sensed reading of an environment in which the patient transport apparatus is located; and a controller in communication with the drive system and the environment sensor and configured to operate the drive system, wherein the controller is configured to: determine whether the patient transport apparatus is located indoors or outdoors based on the sensed reading provided by the environment sensor; and change operation of the drive system between: an outdoor mode in response to the environment sensor sensing that the patient transport apparatus is located outdoors; and an indoor mode to at least partially limit operation of the drive system in response to the environment sensor sensing that the patient transport apparatus is located indoors.BRIEF DESCRIPTION OF THE DRAWINGS

[0005] Figure 1 is a perspective view of a patient transport apparatus including a powered caster drive system.

[0006] Figure 2 is a schematic view of a control system according to the present disclosure.

[0007] Figure 3A is a top-down view of an example implementation of a user interface of the patient transport apparatus.

[0008] Figure 3B is a side view of an example implementation of a user interface of the patient transport apparatus.

[0009] Figure 4 is a partial perspective view of an example implementation of a user interface of the patient transport apparatus.

[0010] Figure 5A is a partial perspective view of an example implementation of a user interface of the patient transport apparatus.

[0011] Figure 5B is a side view of the patient transport apparatus including the example implementation of the user interface of Figure 5A.

[0012] Figure 6 is a partial perspective view of the patient transport apparatus including an example implementation of a user interface.Docket No. 060252.01207

[0013] Figures 7 A and 7B are front views of different implementations of a user interface of the patient transport apparatus.

[0014] Figure 8A is a partial perspective view of an example implementation of a presence sensor of the patient transport apparatus.

[0015] Figure 8B is a side view of the patient transport apparatus including the presence sensor of Figure 8A.

[0016] Figure 9A is a side view of an example instance where the powered caster drive system is operated in a run mode.

[0017] Figure 9B is a side view of an example instance where the powered caster drive system is operated in a stop mode.

[0018] Figure 9C is a side view of an example instance where the powered caster drive system is operated in an override mode.

[0019] Figure 10A is a side view of an example instance where the powered caster drive system is operated in a run mode based on a user input provided by a first user engaged with a first user interface of the patient transport apparatus.

[0020] Figure 10B is a side view of an example instance where the powered caster drive system is operated in a run mode based on a user input provided by a second user engaged with a second user interface of the patient transport apparatus.

[0021] Figure IOC is a side view of an example instance where the powered caster drive system is operated in a run mode based on an operating input.

[0022] Figure 11 is a side view of an example instance where the powered caster drive system is simultaneously operated in a high incline state and in the run mode.

[0023] Figure 12 is a side view of an example instance where the powered caster drive system is simultaneously operated in a loaded state and in the run mode.

[0024] Figure 13A is a side view of an example instance where the powered caster drive system is operated in the run mode.

[0025] Figure 13B is a side view of an example instance where the powered caster drive system is simultaneously operated in a lowered state and in the run mode.

[0026] Figure 13C is a side view of an example instance where the powered caster drive system is simultaneously operated in a raised state and in the run mode.Docket No. 060252.01207

[0027] Figure 14 is a side view of an example instance where the powered caster drive system is simultaneously operated in the high incline state, the loaded state, and the run mode.

[0028] Figure 15A is a side view of an example instance where the powered caster drive system is operated in the outdoor mode.

[0029] Figure 15B is a side view of an example instance where the powered caster drive system is operated in the indoor mode.

[0030] Figure 16A is a side view of an example instance illustrating an operation of a lift mechanism during operation of the powered caster drive system in the outdoor mode.

[0031] Figure 16B is a side view of an example instance illustrating an operation of a lift mechanism during operation of the powered caster drive system in the indoor mode.

[0032] Figure 17A is a side view of an example instance illustrating an operation of a lift mechanism during operation of the powered caster drive system in the outdoor mode.

[0033] Figure 17B is a side view of an example instance illustrating an operation of a lift mechanism during operation of the powered caster drive system in the indoor mode.

[0034] Figure 18 is a side view of an example instance illustrating a determination of a potential collision event during operation of the powered caster drive system in the outdoor mode.

[0035] Figure 19A is a side view of an example instance where operation of the powered caster drive system is inhibited during operation in the indoor mode.

[0036] Figure 19B is a side view of an example instance illustrating an operation of a lift mechanism during operation of the powered caster drive system in the outdoor mode.DETAILED DESCRIPTION

[0037] Referring to Figure 1, a mobile medical device 28 is shown. In the illustrated configurations, the mobile medical device 28 is realized as a patient transport apparatus 30 for supporting a patient in a health care setting. The patient transport apparatus 30 may include a hospital bed, stretcher, cot, wheelchair, chair, or similar apparatus utilized in the care of a patient. In the configuration shown in Figure 1, the patient transport apparatus 30 includes a cot that is utilized to transport patients, such as from an emergency site to an emergency vehicle (e.g., an ambulance). It should be appreciated that the mobile medical device 28 may be realized as other devices in a healthcare setting which are typically on wheels, such as mobile medical imaging equipment, anesthesia equipment, respiratory equipment, crash carts, patient lift / transfer devices, supply carts, and the like. As will be appreciated from the subsequent description below, aspectsDocket No. 060252.01207of the patient transport apparatus 30 apply to other forms of mobile medical devices 28, and use of the terms “patient transport apparatus” and “mobile medical device” herein may be interchangeable.

[0038] The patient transport apparatus 30 shown in Figure 1 includes a support structure 32 that provides support for the patient. The support structure 32 includes a base 34. The base 34 may include a base frame 35. The support structure 32 may also include a support frame 36 that is spaced above the base frame 35. The support structure 32 also includes a patient support deck 38 operatively attached to the base 34 (e.g., disposed on the support frame 36). The patient support deck 38 may include several sections, some of which are capable of articulating relative to the support frame 36, such as a back section 41, a seat section 43, a leg section 45, and a foot section 47. The patient support deck 38 provides a patient support surface 42 upon which the patient is supported.

[0039] The base 34, support frame 36, patient support deck 38, and patient support surface 42 each have a head end HE and a foot end FE corresponding to designated placement of the patient’s head and feet on the patient transport apparatus 30. The patient transport apparatus 30 defines a longitudinal axis L along its length (i.e., extending between the head end HE to the foot end FE). The patient transport apparatus 30 also includes a vertical axis V arranged crosswise (e.g., orthogonal) to the longitudinal axis L along which the patient support deck 38 may be lifted and lowered relative to the base 34 via a lift mechanism 37. The construction of the support structure 32 may take on any known or conventional design and is not limited to that specifically set forth above. In addition, a mattress (not shown) may be provided in certain configurations, such that the patient rests directly on a patient support surface of the mattress while also being supported by the patient support surface 42.

[0040] The patient transport apparatus 30 may include a lift mechanism 37. The lift mechanism 37 may be configured to raise or lower the base or the support deck with respect to the other. The lift mechanism 37 may include one or more of an electric actuator, a hydraulic actuator, a pneumatic actuator, combinations thereof, or any other suitable types of actuators, and each actuator may include more than one actuation mechanism. The lift mechanism 37 can be like that shown in the U.S. Patent No. 10,987,268 entitled “Emergency Cot With A Litter Height Adjustment Mechanism”, the disclosure of which is hereby incorporated by reference in its entirety.Docket No. 060252.01207

[0041] Side rails 44, 46 may be coupled to the support frame 36 and thereby supported by the base 34. For example, a right side rail 44 may be positioned at a right side of the patient support deck 38, and a left side rail 46 may be positioned at a left side of the patient support deck 38 (with the left side defined relative to a person positioned at the head end HE of the patient support deck 38 and facing the patient support deck 38). If the patient transport apparatus 30 is a hospital bed, there may be more side rails. The side rails 44, 46 may be fixed relative to the support frame 36 or may be movable between a raised position in which they block ingress and egress into and out of the patient transport apparatus 30, one or more intermediate positions, and a lowered position in which they are not an obstacle to such ingress and egress. In still other configurations, the patient transport apparatus 30 may not include any side rails.

[0042] The present disclosure also includes a drive system 48 for facilitating movement of the mobile medical device 28 (e.g., the patient transport apparatus 30) along a floor surface F. In the representative version illustrated herein, the drive system 48 includes at least one powered caster assembly 49 configured to be operatively attached to the mobile medical device 28 (e.g., the base 34 of the patient transport apparatus 30) for facilitating movement of the mobile medical device 28 along a floor surface F. However, and as will be appreciated by the subsequent description below, other types of drive systems 48 are contemplated by the present disclosure, including without limitation drive systems 48 which include one or more non-caster style drive wheels or drive members (e.g., omnidirectional wheels, treads, and the like) which may remain in contact with the floor surface F or may be deployable into engagement with the floor surface. Other configurations are contemplated.

[0043] Each of the at least one powered caster assemblies 49 includes a wheel 50 for contacting the floor surface, and a wheel support 54 configured to be operatively attached to the mobile medical device 28 (e.g., the base 34 of the patient transport apparatus 30) and arranged to support the wheel 50 for rotation about a rotational axis R and for swiveling about a swivel axis S. The wheel support 54 may include various types of support structures for supporting the wheel 50 in such a manner. An exemplary wheel support 54 and exemplary configurations of a powered caster assembly 49 is further described in International Patent Application Publication No. WO2025184282A1 entitled "'Powered Caster Drive System for a Mobile Medical Device and Patient Transport Apparatus Including the Same,” the disclosure of which is hereby incorporated by reference in its entirety.Docket No. 060252.01207

[0044] The at least one powered caster assembly 49 may also include a steer lock assembly 64. The steer lock assembly 64 may be operable between: a steer locked state SL that impedes swiveling of the wheel about the swivel axis S, and a non-steer locked state SN. wherein swiveling of the wheel is not impeded. In some versions, the drive system 48 (e.g., at least one of the powered caster assemblies 49), and / or another portion of the patient transport apparatus 30. may include a brake assembly 66, shown schematically in Figure 2, which is respectively configured to facilitate braking of one or more of the wheels 50 about the rotational axis R. The brake assembly 66 is coupled to at least one wheel 50 and is configured for selective operation between: a braked state SB to at least partially inhibit rotation of the wheel 50 so as to at least partially inhibit movement of the patient transport apparatus 30 along the floor surface F, and an unbraked state SU to permit rotation of the wheel 50 so as to permit movement of the patient transport apparatus 30 along the floor surface F. It should be appreciated that the unpowered caster assemblies 52 may include the steer lock assembly 64 and / or the brake assembly 66. The configuration of the steer lock assembly 64 and the brake assembly 66 are not particularly limited for the purposes of this disclosure. In some instances, one or more of the at least one powered caster assemblies 49 (and / or unpowered caster assemblies 52) may include an actuator BA to change the mode of operation of the steer lock assembly 64 and / or the brake assembly 66. More specifically, the actuator BA may be operable to place the steer lock assembly 64 in the steer locked state SL or the non-steer locked state SN, and / or may be operable to place the brake assembly 66 in the braked state SB or the unbraked state SU. In some versions, operation of one or more motors of the powered caster assembly 49 may define operation of the brake assembly 66. Examples of suitable steer lock assemblies 64 and brake assemblies 66 are disclosed in U.S. Patent No. 11.197,791 entitled “Patient Transport Apparatus With Cable Connected Brake And Steer Lock Assemblies,” the disclosure of which is hereby incorporated by reference in its entirety.

[0045] As shown for the patient transport apparatus 30 illustrated in Figure 1, it should be appreciated that additional wheels 51 may be coupled to the mobile medical device 28 (e.g., the base 34 of the patient transport apparatus 30) to facilitate transport of mobile medical device 28 over floor surfaces. For example, the additional wheels 51 may be arranged in each of four quadrants of the base 34 adjacent to corners of the base frame 35 where the drive system 48 is not included. In the configuration shown, the additional wheels 51 are unpowered caster wheels able to rotate and swivel relative to the support structure 32 during transport. Each of the additionalDocket No. 060252.01207wheels 51 forms part of an unpowered caster assembly 52. Each unpowered caster assembly 52 is mounted to the base 34. It should be understood that various configurations of the unpowered caster assemblies 52 are contemplated. In addition, in some configurations, the additional wheels 51 are not caster wheels and may be non- steerable, steerable, or combinations thereof.

[0046] Similar to as described above in the context of the at least one powered caster assembly 49. each of the unpowered caster assemblies 52 may further include a wheel support 54. The wheel support 54 is operatively attached to the mobile medical device 28 (e.g. the base 34 of the patient transport apparatus 30) and arranged to support the additional wheel 51 for rotation about a rotational axis R (see Figure 1) and for swiveling about a swivel axis S, with the swivel axis S generally normal to the floor surface F and to the rotational axis R. The wheel support 54 may include various types of support structures, similar to as described above. An exemplary wheel support 54 and exemplary configurations of an unpowered caster assembly 52 are disclosed in U.S. Patent No. 11,197,791 entitled “Patient Transport Apparatus With Cable Connected Brake And Steer Lock Assemblies.” previously referenced.

[0047] As shown for the patient transport apparatus 30 illustrated in Figure 1, a pair of loading wheels 63 may be coupled to the support frame 36 to assist with loading of the patient transport apparatus 30 into the emergency vehicle and unloading of the patient transport apparatus 30 out of the emergency vehicle. In the configuration shown, the loading wheels 63 are arranged nearer the head end HE than the foot end FE, but the loading wheels 63 may be placed in other locations to facilitate loading and / or unloading of the patient transport apparatus 30 into and out of the emergency vehicle, or for other purposes.

[0048] As shown in Figure 1, each of the at least one powered caster assemblies 49 also includes a hub motor 72. The hub motor 72 is interposed between the wheel 50 and the wheel support 54 and configured to selectively modulate application of torque to the wheel 50 to facilitate movement of the mobile medical device 28 (e.g., the patient transport apparatus 30) along the floor surface F. As used herein, the phrase “selectively modulate application of torque” may refer to the hub motor 72 applying a positive torque to drive the wheel 50 to facilitate movement of the mobile medical device 28 along the floor surface F or applying a negative torque to brake the wheel 50 (also known as regenerative braking). The hub motor 72 is typically an electric motor configured to be energized by a power source 78 such that the electric motor outputs torque about the rotational axis R to drive the wheel 50 about the rotational axis R. The type of electric motorDocket No. 060252.01207is not particularly limited for the purposes of this disclosure. The hub motor 72 may be an AC electric motor, a DC electric motor, a synchronous electric motor, an asynchronous electric motor, the like, and combinations thereof. The hub motor 72 may be a brushless or brushed electric motor. The hub motor 72 may include other current or future electric motor configurations. The hub motor 72 may directly drive the wheel 50, or a reduction gearset (e.g., a planetary gearset) may be interposed between the hub motor 72 and the wheel 50. Accordingly, the hub motor 72 is configured to selectively modulate application of torque to the wheel 50 to facilitate movement of the mobile medical device 28 (e.g., the patient transport apparatus 30) along the floor surface F. In some versions, when power is not supplied to the hub motor 72 from the power source 78, the hub motor 72 may act as a brake to decelerate the wheel 50. In other versions, the wheel 50 is permitted to rotate freely when power is not supplied to the hub motor 72. The hub motor 72 is further described in International Patent Application Publication No. WO2025184282A1 entitled “Powered Caster Drive System for a Mobile Medical Device and Patient Transport Apparatus Including the Same." previously referenced.

[0049] The mobile medical device 28 (e.g., the patient transport apparatus 30) may include a user interface UI arranged for engagement by a user. The mobile medical device 28 may include any suitable number of user interfaces UI. For example, referring to Figure 1, the patient transport apparatus 30 includes a first user interface 98 and a second user interface 106. In some instances, the first user interface 98 may be arranged for engagement by a first user and the second user interface 106 may be arranged for engagement by a second user. In such instances, the first user interface 98 and the second user interface 106 may be simultaneously engaged by the first user and the second user, respectively. Herein, any description related to the first user interface 98 may be applied to the second user interface 106. Similarly, any description related to the second user interface 106 may be applied to the first user interface 98. Additionally, the first and second user interface 98, 106 may be generally referred to herein as the “user interface UI”.

[0050] The user interface UI may be located at any suitable location relative to the mobile medical device 28 (e.g., the patient transport apparatus 30) and coupled to any suitable component of the mobile medical device 28. For instance, Figures 3A and 3B illustrate several possible locations for the user interface UI. In the instances of Figures 3A and 3B, the first user interface 98 is located proximate the head end HE of the patient transport apparatus 30 and the second user interface 106 is located proximate the foot end FE of the patient transport apparatus 30. Further,Docket No. 060252.01207Figure 3B illustrates two possible coupling arrangements for the first user interface 98. As shown, the first user interface 98 may be coupled to the back section 41 such that the user interface 98 moves with the back section 41 when the back section 41 is articulated relative to the support frame 36. Also shown, the first user interface 98 may be coupled to the support frame 36 such that a position of the user interface 98 remains unchanged when the patient support deck 38 is articulated relative to the support frame 36.

[0051] The user interface UI may include any suitable size or shape. For example, in the instance of Figure 4, the first user interface 98 is implemented as a handle 102 having a throttle 104. In such an implementation, the throttle 104 may be arranged for movement relative to the handle 102 in response to user engagement. Exemplary configurations of a handle 102 including a throttle 104 are disclosed in U.S. Patent No. 12,429,898 entitled “Patient Transport Apparatus With Asymmetric Throttle Assembly” and in International Patent Application Publication No. WO2025184282A1 entitled “Powered Caster Drive System for a Mobile Medical Device and Patient Transport Apparatus Including the Same.” each previously referenced. In the instance of Figures 5A and 5B, the first user interface 98 is implemented as a handle 102 having a slot 105, the slot 105 being arranged for engagement by a user. In the instance of Figures 6 and 7A-7B, the second user interface 106 is implemented as a wagon handle 107 arranged for engagement by a user.

[0052] The user interface UI may include one or more input controls configured to receive a user input from a user (to be described in greater detail below). For example, in the instance of Figure 7 A, the second user interface 106 includes a trigger 109, which may be actuated by a user to input the user input. In the instance of Figure 7B, the second user interface 106 includes buttons 111, which may be actuated by a user to input the user input. In other instances, the input control of a user interface UI may be implemented using any suitable number or type of button(s), toggle switch(es), rotary dial(s), slider(s), keyboard(s), touchscreen(s), joystick(s). lever(s). knob(s), throttle(s), foot pedal(s), the like, and combinations thereof.

[0053] The user interface UI may be configured to move between a deployed position and a stowed position. For example, the first user interface 98 is illustrated as being in a stowed position in Figure 1. In such an instance, the first user interface 98 may be rotated about the support frame 36 into the deployed position. As another example, the second user interface 106 is illustrated as being in a stowed position in Figure 1 and in a deployed position in Figure 6. InDocket No. 060252.01207such an instance, the second user interface 106 may be telescopically coupled with the support frame 36, allowing the second user interface 106 to move between the stowed and deployed positions.

[0054] The present disclosure is also directed to a control system 74 configured to operate the drive system 48 to facilitate movement of the support structure 32 along a floor surface F, the control system 74 being shown in Figure 2. For example, the control system 74 may be configured to operate the drive system 48 to facilitate a speed of movement of the support structure 32 along the floor surface F. More particularly, the control system 74 may be configured to operate the hub motor 72 to facilitate the speed of movement. Additionally, the control system 74 may also be configured to operate the drive system 48 by selectively modulating the application of torque to the drive system 48. More particularly, the control system 74 may be configured to operate the hub motor 72 to selectively modulate application of torque to the wheel 50 to drive the wheel 50 to facilitate movement of the support structure 32 along the floor surface F. The controller 76 may operate the drive system 48 to facilitate a speed of movement and to selectively modulate application of torque to the wheel 50 by controlling a voltage and / or current supplied to the hub motor 72.

[0055] Additionally, the control system 74 may operate the drive system 48 between a plurality of modes. For example, the drive system 48 may be operable in a run mode MR and a stop mode MS. During operation of the drive system 48 in the run mode MR, the control system 74 may operate the drive system 48 to facilitate movement of the support structure 32 along a floor surface F. During operation of the drive system 48 in the stop mode MS, the control system 74 may operate the drive system 48 to inhibit the drive system 48 from facilitating movement of the support structure 32 along a floor surface F. As another example, the drive system 48 may be operable in an outdoor mode MO and an indoor mode MI. In the outdoor mode MO, the control system 74 may operate the drive system 48 to facilitate movement of the support structure 32 along a floor surface F, while the mobile medical device 28 (e.g., the patient transport apparatus 30) is located outdoors (e.g.. outside a building such as a hospital, healthcare facility, a building at the location of an emergency). In the indoor mode MI, the control system 74 may operate the drive system 48 to at least partially limit the facilitation of movement of the support structure 32 along a floor surface F, while the mobile medical device 28 (e.g., the patient transport apparatus 30) is located indoors. It is contemplated that, in some instances, the drive system 48 may be configuredDocket No. 060252.01207to operate the drive system 48 in more than one of the above-described mode simultaneously. For example, the controller 76 may be configured to simultaneously operate the drive system 48 in the indoor mode MI and in either the run mode MR or the stop mode MS. Similarly, the controller 76 may be configured to simultaneously operate the drive system 48 in the outdoor mode MO and in either the run mode MR or the stop mode MS. The run mode MR, stop mode MS, indoor mode MI, and outdoor mode MO will be described in greater detail below.

[0056] Referring to Figure 2, the control system 74 may include a controller 76 in communication with at least the drive system 48 such that the controller 76 is configured to operate the drive system 48 to facilitate movement of the support structure 32 along a floor surface F and configured to operate the drive system 48 in the plurality of modes (e.g., the run mode MR, the stop mode MS, the outdoor mode MO, and the indoor mode MI). In some examples, the control system 74 is integrated with the drive system 48, but it is also contemplated that the controller 76 may be part of the mobile medical device 28 (e.g., the patient transport apparatus 30) in which the drive system 48 is incorporated and thus is configured to operate the drive system 48 as well as other aspects of the mobile medical device 28. Figure 2 illustrates one exemplary configuration of a control system 74 for controlling the drive system 48 as well as other aspects of a patient transport apparatus 30. Other configurations of the control system 74 for operating the drive system 48 are contemplated.

[0057] The controller 76 may communicate with at least the drive system 48 via wired or wireless connection(s). The controller 76 generates and transmits control signals to at least the drive system 48, or components thereof (e.g., the hub motor 72), to operate at least the drive system 48 to perform one or more desired functions. The controller 76 may include a memory 77. Memory 77 may be any memory suitable for storage of data and computer-readable instructions. For example, the memory 77 may be a local memory, an external memory, or a cloud-based memory realized as random-access memory (RAM), non-volatile RAM (NVRAM), flash memory, or any other suitable form of memory. The controller 76 generally includes one or more microprocessors for processing instructions or for processing algorithms stored in memory to control operation of at least the drive system 48. Additionally, or alternatively, the controller 76 may include one or more microcontrollers, field programmable gate arrays, systems on a chip, discrete circuitry, and / or other suitable hardware, software, or firmware that is capable of carrying out the functions described herein. The controller 76 may be carried on-board the drive systemDocket No. 060252.0120748, onboard the mobile medical device 28 (e.g., the patient transport apparatus 30), or may be remotely located. In one version, the controller 76 is mounted to the base 34 of the patient transport apparatus 30.

[0058] In one version, the controller 76 includes an internal clock to keep track of time, such as a microcontroller clock. The microcontroller clock may include a crystal resonator: a ceramic resonator; a resistor, capacitor (RC) oscillator; or a silicon oscillator. Examples of other internal clocks other than those disclosed herein are fully contemplated. The internal clock may be implemented in hardware, software, or both. The controller 76 may be in communication with the user interface UI. In the instance of Figure 2, the controller 76 is shown in communication with the first and second user interfaces 98, 106. The controller 76 may be configured to operate the drive system 48 based on user engagement with the first user interface 98 and / or the second user interface 106. For example, the controller 76 may be configured to operate a speed of movement of the drive system 48 along a floor surface F based on user engagement with the first user interface 98 and / or the second user interface 106. As another example, the controller 76 may be configured to modulate an application of torque to the wheel 50 based on user engagement with the first user interface 98 and / or the second user interface 106 to facilitate movement of the support structure 32 along a floor surface F.

[0059] The controller 76 may operate the drive system 48 in response to receiving a user input from a user via the user interface UI. As shown in Figure 2, the user interface UI may include a user interface control. For example, referring to Figure 2, the first user interface 98 includes a first user interface control 100 and the second user interface 106 includes a second user interface control 108. The user interface control may be configured to provide a user interface signal to the controller 76 in response to a user engaging with the user interface control to provide a user input. The user interface signal may pertain to at least one of a desired direction for the hub motor 72 to modulate application of torque to the wheel 50. a desired speed for the mobile medical device 28 (e.g. the patient transport apparatus 30) to move along the floor surface F, and a presence of user engagement with the user interface control. In these examples, the controller 76 may be configured to operate the drive system 48 based on the user interface signal. The specific implementation of the user interface control is not particularly limited for the purposes of this disclosure and may include button(s). toggle switch(es), rotary dial(s), slider(s), keyboard(s). touchscreen(s), joystick(s), lever(s), knob(s), throttle(s), foot pedal(s), the like, and combinations thereof.Docket No. 060252.01207

[0060] Figure 7B provides an example implementation where the user interface signal pertains to a desired direction for the hub motor 72 to modulate application of torque to the wheel 50. As shown, the user interface UI includes left and right directional controls 111-L, 111-R. The left and right directional controls 111-L, 111-R may be configured to generate a user interface signal in response to user engagement with the left and right directional controls 111-L, 111-R. In such an implementation, the controller 76 may be configured to operate the drive system 48 based on the user interface signal.

[0061] Figure 4 provides an example implementation where the user interface signal pertains to a desired speed for the mobile medical device 28 (e.g. the patient transport apparatus 30). As shown, the user interface UI is implemented as a handle 102 and a throttle 104, the throttle 104 being configured to generate a user interface signal in response to user engagement with the throttle 104. In such an implementation, the controller 76 may be configured to operate the drive system 48 based on the user interface signal. The example implementation of Figure 4 is further described in International Patent Application Publication No. WO2025184282A1 entitled “Powered Caster Drive System for a Mobile Medical Device and Patient Transport Apparatus Including the Same,” previously referenced.

[0062] Figure 6 provides an example implementation where the user interface signal pertains to user engagement with the mobile medical device 28 (e.g. the patient transport apparatus 30). As shown, the user interface UI includes a presence sensor 116 implemented as a capacitive sensor arranged on a grip portion of the wagon handle 107. Here, the capacitive sensor is configured to generate a user interface signal in response to the presence of user engagement with the wagon handle 107. As follows, the controller 76 may be configured to operate the drive system 48 based on the user interface signal. Exemplary configurations of a handle including a capacitive sensor are disclosed in U.S. Patent No. 12,429,898 entitled “Patient Transport Apparatus With Asymmetric Throttle Assembly,” previously referenced.

[0063] The specific implementation of the speed input control, the direction input control, and / or the engagement input control are not particularly limited for the purposes of this disclosure and may include button(s), toggle switch(es), rotary dial(s), slider(s), keyboard(s), touchscreen(s), joystick(s), lever(s), knob(s), throttle(s), foot pedal(s), the like, and combinations thereof.

[0064] In some instances, the user input may be a force input. In such instances, the user may apply a force to the user interface UI to facilitate movement of the mobile medical device 28Docket No. 060252.01207in a desired direction and / or at a desired speed. Tn such instances, the controller 76 may translate the applied force into a speed input control and / or direction input control. In the example implementation of Figures 5 A or 5B, the user may grasp the one or more slots 105 of the user interface UI to push the support structure 32 and cause movement of the support structure 32 in a first direction. Alternatively, the user may grasp the slot 105 to pull the support structure 32 and cause movement of the support structure 32 in a second, opposing direction. In some instances, the user interface UI may include a surface of the mobile medical device 28 (e.g., the patient transport apparatus 30) upon which the user applies force to cause movement of the mobile medical device 28. The surface may be any one or more surfaces of the patient transport apparatus 30, such as a surface of the support structure 32. Similarly, the surface may be a surface of the side rails 44, 46. Other configurations are contemplated.

[0065] The control system 74 may be in communication with a variety of sensors. The mobile medical device 28 (e.g., the patient transport apparatus 30) may include a speed sensor 96 (shown schematically in Figure 2) disposed on the mobile medical device 28 and in communication with the controller 76. The speed sensor 96 may be configured to generate a signal representative of the speed of the mobile medical device 28 (e.g., the patient transport apparatus 30) relative to the floor surface F. For example, where the mobile medical device 28 is realized as the patient transport apparatus 30, the speed of the patient transport apparatus 30 relative to the floor surface F may be obtained by the speed sensor 96 generating a signal responsive to one or more of a current speed of the base 34 moving relative to the floor surface F and a current rotational speed of the wheel 50. Based on the speed of the patient transport apparatus 30 relative to the floor surface F as determined by the speed sensor 96, the controller 76 may be configured to adjust the at least one of the torque generated by the hub motor 72 and the speed of the hub motor 72 such that the speed of the patient transport apparatus relative to the floor surface does not exceed a pre-defined threshold. The pre-defined threshold may be adjusted based on a variety of factors such as patient weight, slope of the floor surface, etc.

[0066] The mobile medical device 28 (e.g., the patient transport apparatus 30) may include a patient load sensor 86 (shown schematically in Figure 2) in communication with the controller 76. In instances where the mobile medical device 28 is realized as the patient transport apparatus 30, the patient load sensor 86 may be configured to provide a sensed reading of a patient disposed on the patient support deck 38 by sensing a weight disposed on the patient support deck 38. TheDocket No. 060252.01207load sensor 86 may include any number of load cells coupled to the controller 76 and arranged to detect and / or sense the weight. The load cells may be coupled to the base 34, the support frame 36, the patient support deck 38. or any other suitable location to sense the weight.

[0067] The controller 76 may be configured to operate the drive system 48 in a loaded state based on the sensed weight. In an example implementation, the controller 76 may receive the sensed weight from the patient load sensor 86. The controller 76 may then determine whether a patient is disposed on the patient support deck 38 by determining whether the sensed weight is greater than a predetermined threshold weight value. The controller 76 may operate the drive system 48 in the loaded state in response to determining that the sensed weight is greater than the predetermined threshold weight value.

[0068] The mobile medical device 28 (e.g., the patient transport apparatus 30) may include an incline sensor 110 (shown schematically in Figure 2) in communication with the controller 76. In instances where the mobile medical device 28 is realized as the patient transport apparatus 30, the incline sensor 110 may be configured to provide a sensed reading of an angle of one or more of the base 34 and the patient support deck 38. The incline sensor 110 may include any number of suitable inclinometers coupled to the controller 76 and arranged to detect and / or sense the angle. The inclinometer may be coupled to the base 34, the support frame 36, the patient support deck 38, or any other suitable location to sense the angle.

[0069] The controller 76 may be configured to operate the drive system 48 in a high incline state based on the sensed angle. In an example implementation, the controller 76 may receive the sensed angle from the incline sensor 110. The controller 76 may then determine whether the sensed angle is greater than a predetermined threshold angle value. The controller 76 may operate the drive system 48 in the high incline state in response to determining that the sensed angle is greater than the predetermined threshold angle value.

[0070] The mobile medical device 28 (e.g., the patient transport apparatus 30) may include a proximity sensor 114 (shown schematically in Figure 2) in communication with the controller 76. In instances where the mobile medical device 28 is realized as the patient transport apparatus 30, the proximity sensor 114 may be configured to provide a sensed reading of an obstruction proximate the patient transport apparatus 30. The proximity sensor 114 may include any number of suitable proximity sensors coupled to the controller 76 and arranged to detect and / or sense the obstruction. For example, the proximity sensor 114 may include a capacitive, inductive, magnetic,Docket No. 060252.01207optical, and / or ultrasonic proximity sensor. The proximity sensor 114 may be coupled to the base 34, the support frame 36, the patient support deck 38, or any other suitable location to sense the obstruction. For instance, the proximity sensor 114 may be coupled to the support structure 32 proximate the foot end FE of the patient transport apparatus 30.

[0071] The controller 76 may be configured to detect a potential collision event based on the sensed reading. For example, the controller 76 may be configured to detect the potential collision event based on determining a presence of an obstruction based on the sensed reading provided by the proximity sensor 114. Additionally, the controller 76 may be configured to detect the potential collision event based on determining a height of an obstruction based on the sensed reading provided by the proximity sensor 114. It will be appreciated that one or more proximity sensors 114 could be arranged in multiple locations, such as on the sides, front, or rear sides of the patient transport apparatus 30.

[0072] The mobile medical device 28 (e.g., the patient transport apparatus 30) may include a presence sensor 116 (shown schematically in Figure 2) in communication with the controller 76. In instances where the mobile medical device 28 is realized as the patient transport apparatus 30, the presence sensor 116 may be configured to provide a sensed reading of a presence of a user proximate the patient transport apparatus 30. In a more specific instance, the presence sensor 116 may be configured to provide a sensed reading of an engagement of the user with the user interface UI. The presence sensor 116 may include any number of suitable proximity sensors coupled to the controller 76 and arranged to detect and / or sense the presence of the user. For example, the presence sensor 116 may include a capacitive, inductive, magnetic, optical, and / or ultrasonic proximity sensor. As previously stated, the user interface UI may include the presence sensor 116. Such an instance is shown in Figure 6. In other implementations, the presence sensor 116 may be coupled to the base 34, the support frame 36, the support structure 32, the patient support deck 38, or any other suitable location to sense the presence of the user. An instance where the presence sensor 116 is coupled to the support frame 36 is shown in Figure 8A. It will be appreciated that one or more presence sensors 116 could be arranged in multiple locations, such as on the sides, front, or rear sides of the patient transport apparatus 30, along grip points, handles, adjacent to or otherwise integrated with other user interfaces UI, and the like.

[0073] The controller 76 may be configured to determine that a user is present based on the sensed reading provided by the presence sensor 116. In some instances, such as the instanceDocket No. 060252.01207of Figure 8B, the presence sensor 116 may include a first presence sensor configured to sense a presence of a first user and a second presence sensor configured to sense a presence of a second user. For example, in the instance of Figures 8 A and 8B, the presence sensor 116 is implemented as a first presence sensor 116-1 and a second presence sensor 116-2. As shown, the first presence sensor 116-1 is coupled to the back section 41 proximate the head end HE of the patient transport apparatus 30 and is configured to sense a presence of the first user proximate the head end HE of the patient transport apparatus 30. Also shown, the second presence sensor 116-2 is coupled to the support structure 32 proximate the foot end FE of the patient transport apparatus 30 and is configured to sense a presence of the second user proximate the foot end FE of the patient transport apparatus 30. In such instances, the controller 76 may be configured to determine that the first user is proximate the head end HE based on the sensed reading provided by the first presence sensor 116-1 and that the second user is proximate the foot end FE based on the sensed reading provided by the second presence sensor 116-2. In a more specific instance, the controller 76 may be configured to determine that the first user is in engagement with the first user interface 98 based on the sensed reading provided by the first presence sensor 116-1 and that the second user is in engagement with the second user interface 106 based on the sensed reading provided by the second presence sensor 116-2.

[0074] As noted above, in some versions, the presence sensor 116 may be configured to provide a sensed reading of an engagement of the user with the user interface UI. Here, the presence sensor 116, one or more of the user interfaces UI, and / or other components of the mobile medical device 28 may include or otherwise define an engagement sensor 117 (shown schematically in Figure 2) arranged to sense a force applied by a user. In some instances, the engagement sensor 117 may be operatively attached to one or more of the handles 102 and / or the wagon handle 107 (e.g., along or adjacent to a grip portion thereof), and / or one or more of the user interfaces UI.

[0075] The engagement sensor 117 may include one or more of a strain gauge, a load cell, a piezoelectric sensor, a force-sensitive resistor, or any other suitable force-sensing element. In some versions, the controller 76 is disposed in communication with the engagement sensor 117 and is configured to determine that a user is in engagement with the user interface UI and / or some defined contact point adjacent to the engagement sensor 117 based on a sensed force from the engagement sensor 117. For example, the controller 76 may determine that a user is in engagementDocket No. 060252.01207with the user interface UI in response to the sensed force exceeding a predetermined force engagement threshold. Similarly, the controller 76 may determine that the user is not in engagement with the user interface UI and / or some defined contact point adjacent to the engagement sensor 117 in response to the sensed force falling below the predetermined force engagement threshold. In such instances, the controller 76 may operate the drive system 48 in the run mode MR in response to the engagement sensor 117 sensing a force indicative of user engagement with the user interface UI, and may transition the drive system 48 to the stop mode MS in response to the engagement sensor 117 ceasing to sense such a force (e.g., when the user releases the handle 102 or the wagon handle 107). The engagement sensor 117 may be used in lieu of or in addition to the presence sensor 116 for detecting user engagement with the user interface UI.

[0076] The mobile medical device 28 (e.g., the patient transport apparatus 30) may include an environment sensor 112 (shown schematically in Figure 2) in communication with the controller 76. In instances where the mobile medical device 28 is realized as the patient transport apparatus 30, the environment sensor 112 may be configured to provide a sensed reading of an environment in which the patient transport apparatus 30 is located. The controller 76 may be configured to determine whether the patient transport apparatus 30 is located indoors or outdoors based on the sensed reading.

[0077] The environment sensor 112 may include any suitable sensor for providing the sensed reading. The environment sensor 112 may include a temperature sensor configured to provide a sensed reading of a temperature of the environment in which the patient transport apparatus 30 is located. In such instances, the controller 76 may be configured to determine whether the patient transport apparatus 30 is located indoors or outdoors based on the sensed reading of the temperature and a predetermined temperature threshold and / or based on changes in the sensed reading of the temperature. The environment sensor 112 may include a humidity sensor configured to provide a sensed reading of a humidity of the environment in which the patient transport apparatus 30 is located. In such instances, the controller 76 may be configured to determine whether the patient transport apparatus 30 is located indoors or outdoors based on the sensed reading of the humidity and a predetermined humidity threshold. The environment sensor 112 may include a location sensor (e.g., a GPS system) configured to provide a location of the environment in which the patient transport apparatus 30 is located. In such instances, the controllerDocket No. 060252.0120776 may be configured to determine whether the patient transport apparatus 30 is located indoors or outdoors based on the location provided by the location sensor. The environment sensor 112 may include photosensor configured to provide a sensed reading of a brightness of the environment in which the patient transport apparatus 30 is located. In such instances, the controller 76 may be configured to determine whether the patient transport apparatus 30 is located indoors or outdoors based on the sensed reading of the brightness and a predetermined lumen threshold. The environment sensor 112 may include a force sensor (e.g., a load cell) configured to provide a sensed reading of force applied to the drive system 48 during movement of the support structure 32 along a floor surface F. For instance, the force sensor may be configured to sense an amount of force applied by the floor surface F to the wheel 50 during movement of the support structure 32 along the floor surface F. The controller 76 may be configured to determine whether the patient transport apparatus 30 is located indoors or outdoors based on the sensed reading of the force applied to the drive system 48 and a predetermined force threshold and / or based on changes in the sensed reading of the force applied to the drive system 48.

[0078] The mobile medical device 28 (e.g., the patient transport apparatus 30) may include a steer lock assembly sensor 84 (shown schematically in Figure 2) in communication with the controller 76. In instances where the mobile medical device 28 is realized as the patient transport apparatus 30, the steer lock assembly sensor 84 may be configured to provide a sensed reading based on sensing operation of the steer lock assembly 64 in the steer locked state SL or in the nonsteer locked state SN. The controller 76 may determine whether the steer lock assembly 64 is operating in the steer locked state SL or the non-steer locked state SN based on the sensed reading. In some instances, the steer lock assembly sensor 84 may include a lock switch, as described in International Patent Application Publication No. WO2025184282A1 entitled “Powered Caster Drive Sy stem for a Mobile Medical Device and Patient Transport Apparatus Including the Same,” previously referenced.

[0079] The controller 76 may be in communication with the lift mechanism 37. In such instances, the controller 76 may be configured to operate the lift mechanism 37 to raise or lower the base or the support deck with respect to the other. For example, a lift interface 82, shown in Figure 2, may be operatively attached to patient transport apparatus 30 and include lift input controls arranged for engagement by the user and disposed in electrical communication with the controller 76 to facilitate operation of the lift mechanism 37 to lift and lower the patient supportDocket No. 060252.01207deck 38 relative to the base 34. The controller 76 may operate the drive system 48 in a raised state RS or a lowered state LWS based on a height of the base 34 or the patient support deck 38 with respect to the other. In an example implementation, the controller 76 may determine the height of the base 34 or the patient support deck 38 with respect to the other based on a sensed reading and / or kinematic data of the patient transport apparatus 30. The controller 76 may operate the drive system 48 in the raised state RS in response to determining that the height of the base 34 or the patient support deck 38 with respect to the other is greater than a predetermined height threshold HT. The controller 76 may operate the drive system 48 in the lowered state LWS in response to determining that the height of the base 34 or the patient support deck 38 with respect to the other is lower than a predetermined height threshold HT.

[0080] It is contemplated that the controller 76 may automatically operate the lift mechanism 37 based on an operating mode of the drive system 48. For instance, the controller 76 may automatically lower the patient support deck 38 relative to the base 34 in response to the drive system 48 operating in the indoor mode MI. It is also contemplated that the controller 76 may automatically operate the lift mechanism 37 based on a sensed reading provided by a sensor of the patient transport apparatus 30. For instance, the controller 76 may automatically lower the patient support deck 38 relative to the base 34 in response to determining that the sensed angle sensed by the incline sensor 110 is greater than a predetermined threshold angle value. As another example, the controller 76 may automatically lower the patient support deck 38 relative to the base 34 in response to determining that the weight sensed by the patient load sensor is greater than a predetermined threshold weight value.

[0081] The controller 76 may be in communication with a user feedback device 80 (illustrated schematically in Figure 2). The controller 76 may be configured to operate the user feedback device 80 so as to update the user regarding various information about the operational status of the drive system 48 (e.g. an operating mode of the drive system 48), and. optionally, other aspects of the mobile medical device 28 (e.g., the patient transport apparatus 30). The user feedback device 80 may be configured to provide a variety of user notifications. In some instances, the user feedback device 80 includes a visual indicator configured to provide a visual notification as a user notification. In some instances, the user feedback device 80 includes an audio indicator configured to provide an auditory notification as a user notification. In some instances, the user feedback device 80 includes a tactile indicator configured to provide a tactile notification as a userDocket No. 060252.01207notification. As one example, the user feedback device 80 may include an LED disposed on the user interface UI and configured to illuminate to indicate to the user that the drive system 48 is operating in the run mode MR, stop mode MS, outdoor mode MO, and / or indoor mode MI. Additional or alternative user feedback devices 80 are contemplated.

[0082] In the illustrated version, the power source 78 includes a battery power supply 90 (shown schematically in Figure 2) to permit the mobile medical device 28 (e.g., the patient transport apparatus 30) to be supplied with power during transport. In many versions, the mobile medical device 28 (e.g., the patient transport apparatus 30) includes an electrical cable (not shown) coupled to the controller 76 and configured to be coupled to the external power source 92 (e.g. plugged in) to charge the battery power supply 90 and provide power for other functions of the mobile medical device 28 (e.g., the patient transport apparatus 30). In some examples, the battery power supply 90 may be a plurality of battery power supplies 90. For example, the patient transport apparatus 30 may include one dedicated battery power supply 90 for energizing the drive system 48, and another battery power supply 90 for operating other aspects of the patient transport apparatus 30. The specific implementation of the battery power supply is not particularly limited for the purposes of this disclosures and may include lithium-ion batteries and any other current or future battery type suitable for the application.

[0083] The controller 76 may include one or more subcontrollers. For example, the controller 76 may include a subcontroller configured to control the drive system 48 to operate between the plurality of modes. As another example, the controller 76 may include a subcontroller configured to receive a user input provided by the user interface UI. As yet another example, the controller 76 may include a subcontroller configured to receive sensed readings from the sensors described herein. In some cases, one of the subcontrollers may be attached to the drive system 48 with another attached to the mobile medical device 28 (e.g., the patient transport apparatus 30).

[0084] The controller 76 may be configured to operate the drive system 48 in a run mode MR or in a stop mode MS. Generally, during operation of the drive system 48 in the run mode MR, the controller 76 may be configured to operate the drive system 48 to facilitate a speed of movement of the support structure 32 along the floor surface F and / or to selectively modulate the application of torque to the drive system 48. During operation in the stop mode MS, the controller 76 inhibits the drive system 48 from facilitating movement of the support structure 32 along the floor surface F. The controller 76 may inhibit the drive system 48 from facilitating movement ofDocket No. 060252.01207the support structure 32 in a number of different ways. For example, in some versions, the controller 76 may be disposed in communication with the brake assembly 66 (e.g., via electronic communication with the actuator BA) to inhibit or cease movement of the support structure 32. As another example, the controller 76 may control the speed of movement of the support structure 32 to be 0 mph. For instance, the controller 76 may inhibit the hub motor 72 from moving the wheel 50 or control the hub motor 72 to decelerate rotation of the wheel 50. As another example, the controller 76 may inhibit the application of torque to the drive system 48. For instance, the controller 76 may inhibit the hub motor 72 from generating torque. As another example, the controller 76 may prevent the user interface UI from receiving a user input from a user.

[0085] In some versions, the controller 76 may be configured to automatically engage the brake assembly 66 (e.g., via operation of the actuator BA) in the braked state SB in response to determining that the support structure 32 is stationary. The controller 76 may determine that the support structure 32 is stationary based on one or more of: a sensed speed from the speed sensor 96 being at or below a stationary threshold (e.g., 0 mph), an absence of user engagement with the user interface UI as determined by the presence sensor 116 and / or the engagement sensor 117, and / or an elapsed time during which the speed of the support structure 32 remains at or below the stationary threshold. In this way, the controller 76 may automatically lock the wheels 50 and / or the additional wheels 51 when the patient transport apparatus 30 is not being actively moved by a user, thereby inhibiting unintended movement of the patient transport apparatus 30. The controller 76 may subsequently disengage the brake assembly 66 (e.g., via operation of the actuator BA) from the braked state SB (i.e., return to the unbraked state SU) in response to detecting user engagement with the user interface UI, such as in response to the engagement sensor 117 sensing a force indicative of user engagement or in response to the presence sensor 116 sensing a presence of a user. Other configurations are contemplated.

[0086] In some versions, the patient transport apparatus 30 may include or be configured to interface with a loading system 120 (shown schematically in Figure 2) configured to facilitate loading of the patient transport apparatus 30 into a vehicle (e.g., an emergency vehicle such as an ambulance) and unloading of the patient transport apparatus 30 from the vehicle. The loading system 120 may include a powered loading mechanism, such as a powered cot fastener system configured to mechanically engage the patient transport apparatus 30 and translate the patient transport apparatus 30 into and out of the vehicle. The controller 76 may be disposed in electricalDocket No. 060252.01207communication with the loading system 120 and, in some versions, may be configured to automatically disengage the brake assembly 66 (e.g., via operation of the actuator BA) from the braked state SB in response to determining that the loading system 120 is actively loading or unloading the patient transport apparatus 30. For example, the controller 76 may receive a signal from the loading system 120 indicating that the loading system 120 is engaged with the patient transport apparatus 30 and is actively operating to load or unload the patient transport apparatus 30, and the controller 76 may disengage the brake assembly 66 (e.g., via operation of the actuator BA) from the braked state SB in response to receiving the signal. Similarly, the controller 76 may automatically engage the brake assembly 66 (e.g., via operation of the actuator BA) in the braked state SB in response to determining that loading or unloading by the loading system 120 is complete. In some versions, aspects of the loading system 120 and / or the mobile medical device 28 be similar to as is disclosed in U.S. Patent No. 7,398,571 entitled “Ambulance Cot and Hydraulic Elevating Mechanism Therefor,” and / or in U.S. Patent No. 10,058,464, entitled “Cot Fastening System.” the disclosures of which are each hereby incorporated by reference in their entirety. Other configurations are contemplated, and it will be appreciated that the loading device loading system 120 may be of various styles, types, and / or configurations, both “powered” and “non-powered” without departing from the scope of the present disclosure.

[0087] In some versions, the controller 76 may be configured to operate the drive system 48 in the stop mode MS by gradually decelerating the support structure 32 to a stop over a deceleration period PD. The deceleration period PD may be a predetermined time duration, such as between approximately 0.5 seconds and approximately 1.0 second, though other durations are contemplated. By gradually decelerating the support structure 32 during a transition from the run mode MR to the stop mode MS, the controller 76 may reduce sudden jolts or abrupt changes in momentum that could cause patient discomfort, instability of the support structure 32, or tipping of the patient transport apparatus 30. The controller 76 may implement the gradual deceleration by progressively reducing the torque output of the hub motor 72, by progressively increasing a braking torque applied by the hub motor 72 via regenerative braking, by progressively engaging the brake assembly 66 (e.g., via operation of the actuator BA), or by combinations thereof. The rate of deceleration during the deceleration period PD may be constant (i.e., linear deceleration) or may vary (e.g., follow a deceleration curve). In some instances, the deceleration period PD and / or the rate of deceleration may be based on one or more of a current speed of the supportDocket No. 060252.01207structure 32 relative to the floor surface F, a sensed weight from the patient load sensor 86, a sensed angle from the incline sensor 110, and / or whether the drive system 48 is operating in the indoor mode MI or the outdoor mode MO. Other configurations are contemplated.

[0088] In some versions, the controller 76 may be configured to automatically engage the brake assembly 66 (e.g., via operation of the actuator BA) in the braked state SB in response to determining that the patient support deck 38 has been lowered to a transport safety height TS relative to the base 34. The transport safety height TS may be a predetermined height of the patient support deck 38 relative to the base 34 that corresponds to a height suitable for loading the patient transport apparatus 30 into a vehicle and / or for transport within a vehicle. The controller 76 may determine that the patient support deck 38 is at the transport safety height TS based on a sensed reading and / or kinematic data of the patient transport apparatus 30. In response to determining that the patient support deck 38 is at the transport safety height TS, the controller 76 may operate the user feedback device 80 to provide a user notification indicative of the transport safety height TS. For example, the user feedback device 80 may include a visual indicator (e.g., an LED) configured to illuminate in a particular color (e.g., blue) to indicate that the patient transport apparatus 30 is at the transport safety height TS and that the brake assembly 66 has been automatically engaged (e.g., via operation of the actuator BA). Other configurations are contemplated.

[0089] The controller 76 may be configured to operate the drive system 48 in the run mode MR or the stop mode MS based on engagement of users with the user interfaces UI of the patient transport apparatus 30. For example, the controller 76 may be configured to operate the drive system 48 in the run mode MR or the stop mode MS based on engagement of a first user with the first user interface 98 and engagement of a second user with the second user interface 106. In such instances, engagement of the user interfaces 98, 106 may be sensed by the above-described presence sensor 116. Figure 9A illustrates an instance where the controller 76 operates the drive system 48 in the run mode MR in response to a first user 118-1 being in engagement with the first user interface 98 and a second user 118-2 being in engagement with the second user interface 106. Figure 9B illustrates an instance where the controller 76 operates the drive system 48 in the stop mode MS in response to one of the first user 118-1 not being in engagement with the first user interface 98 and the second user 118-2 not being in engagement with the second user interface 106. Specifically, in Figure 9B, only the first user 118-1 is engagement with the first user interfaceDocket No. 060252.0120798, thus, the controller 76 operates the drive system 48 in the stop mode MS. In other instances of the stop mode MS, the controller 76 would operate the drive system 48 in the stop mode MS in an instance where only the second user 118-2 is engagement with the second user interface 106. Additionally, the controller 76 would operate the drive system 48 in the stop mode MS in an instance where neither the first user 118-1 nor the second user 118-2 are in engagement with a user interface UI.

[0090] In some versions, the controller 76 may be configured to operate the drive system 48 so as to prioritize inputs received from one of the users 118-1, 118-2 based, for example, on the direction of movement, the speed of movement, the environment (e.g., indoor or outdoor), the presence of obstacles, the presence of a patient, or combinations thereof. In some versions, the controller 76 may prioritize inputs from whichever user 118-1, 118-2 is leading according to the direction of travel, such as where the patient transport apparatus 30 is traveling with the foot end FE forward. In such instances, the user 118-1, 118-2 at the foot end FE would have a clearer view of any potential obstructions, obstacles, terrain changes, and the like compared to the user 118-1, 118-2 at the head end HE. For example, both users 118-1, 118-2 may be pushing or otherwise moving the patient transport apparatus 30 with the foot end FE forward, and then the user adjacent to the foot end FE may change their engagement with the user interface UI to slow, stop, or reverse movement because of an approaching obstacle that the other user 118-1, 118-2 at the head end HE is unaware of and has not yet reacted to. Thus, prioritizing inputs from specific users 118-1, 118-2 based on direction of movement and UI engagement location affords improved handling, safety, and consistent operation of the patient transport apparatus 30.

[0091] The controller 76 may operate the drive system 48 in the run mode MR or in the stop mode MS based on whether the user interface UI is in the deployed or stowed position. For example, in instances where the user interface UI moves between a deployed position and a stowed position, the user interface UI may be arranged for engagement by a user when the user interface UI is positioned in the deployed position. As follows, in such instances, the user interface UI would not be arranged for engagement by a user in the stowed position. In one such instance, the first user interface 98 may be arranged for engagement by the first user 118-1 when the first user interface 98 is in the deployed position and the second user interface 106 may be arranged for engagement by the second user 118-2 when the second user interface 106 is in the deployed position. In other words, the controller 76 may determine that a user is not engaged with a userDocket No. 060252.01207interface UI if the user interface UI is not in the deployed position, even if the user’s presence is sensed by the presence sensor 116. In such instances, the controller 76 would be configured to operate in the run mode MR in response to the first user interface 98 being in the deployed position and the first user 118-1 being in engagement with the first user interface 98 and in response to the second user interface 106 being in the deployed position and the second user 118-2 being in engagement with the second user interface 106. Additionally, the controller 76 would be configured to operate in the stop mode MS in response to one of the first and second user interfaces 98, 106 being in the stowed position.

[0092] The controller 76 may operate the drive system 48 in the run mode MR or in the stop mode MS based on operation of the steer lock assembly 64 in the steer locked state SL or the non-steer locked state SN. For example, the controller 76 be configured to operate the drive system 48 in the stop mode MS in response to the steer lock assembly sensor 84 sensing operation of the steer lock assembly 64 in the steer locked state SL.

[0093] In some instances, the controller 76 may be configured to operate the drive system 48 in an override mode. Generally, the override mode allows the controller 76 to operate the drive system 48 to facilitate movement of the support structure 32 in an instance where a single user is in engagement with a user interface UI. For example, the controller 76 may be configured to operate in the override mode in instances where a patient is not disposed on the patient support surface 42. Figure 9C illustrates an instance where the controller 76 operates in the override mode OM. As shown, only the first user 118-1 is in engagement with a user interface UI, the first user interface 98. The controller 76 may also operate in the override mode OM in an instance where only the second user 118-2 is in engagement with the second user interface 106. In some versions, the controller 76 may be configured to permit operation in the override mode in response to user engagement with one or more of the user interfaces UI (e.g., a dedicated “override mode” input, button, switch, engagement region, and the like: not shown).

[0094] During operation of the drive system 48 in the override mode, the controller 76 may operate the drive system 48 to facilitate movement of the support structure 32 along a floor surface F. More particularly, during operation of the drive system 48 in the override mode, the controller 76 may operate the drive system 48 to facilitate a speed of movement of the support structure 32 along the floor surface F and / or to selectively modulate the application of torque to the drive system 48.Docket No. 060252.01207

[0095] In some versions, the controller 76 may be configured to record data pertaining to operation of the drive system 48, including operation in the override mode OM. The controller 76 may store the data in the memory 77. The data may include one or more of: a timestamp of when the override mode OM was entered, a duration of operation in the override mode OM, an identity of the user who engaged the override mode OM (e.g., based on identification data provided via the user interface UI), sensor data recorded during operation in the override mode OM, and / or a reason the override mode OM was triggered (e.g., logged or otherwise selected by the user). The controller 76 may be configured to transmit the data to a remote computing system via a wired or wireless communication link (not shown, but generally know in the art), and the remote computing system may include a software application configured to display, analyze, and / or generate reports based on the data, thereby facilitating compliance monitoring and accountability for an entity operating the patient transport apparatus 30 (e.g., an emergency medical services agency). In some versions, the controller 76 may also record data pertaining to other operating events, such as transitions between the run mode MR and the stop mode MS. operation in the loaded state, operation in the high incline state, operation of the brake assembly 66 (e.g., via operation of the actuator BA), and the like. The data may be transmitted to the remote computing system in real time, at predetermined intervals, or in response to a user request. Other configurations are contemplated.

[0096] During operation of the drive system 48 in the run mode MR, the controller 76 may control the drive system 48 based on a user input received from a user. For example, referring to Figure 10 A, the controller 76 is configured to operate the drive system 48 in the run mode MR to facilitate movement of the support structure 32 along the floor surface F based on the first user input UIN1 received by the first user interface 98. Referring to Figure 10B, the controller 76 is configured to operate the drive system 48 in the run mode MR to facilitate movement of the support structure 32 along the floor surface F based on the second user input UIN2 received by the second user interface 106. The first and second user inputs UIN1, UIN2 may be a speed input control and / or a direction input control for facilitating movement of the support structure 32 in accordance with the above description.

[0097] During operation of the drive system 48 in the run mode MR, the controller 76 may be configured to determine an operating input in instances where more than one user input is received. The controller 76 may then facilitate movement of the support structure 32 along theDocket No. 060252.01207floor surface F based on the operating input. For example, referring to Figure 1 OC, the first user interface 98 receives a first user input UIN1 from the first user 118-1 and the second user interface 106 receives a second user input UIN2 from the second user 118-2. In such an instance, the controller 76 may determine the operating input OPIN based on the first user input UIN1 and the second user input UIN2.

[0098] In instances where operation of the drive system 48 based on the first user input UIN1 facilitates movement of the support structure 32 at a first speed and operation of the drive system 48 based on the second user input UIN2 facilitates movement of the support structure 32 at a second speed, the controller 76 may select either the first user input UIN1 or the second user input UIN2 as the operating input OPIN based on the first speed and the second speed. For instance, the controller 76 may select the first user input UIN1 or the second user input UIN2 as the operating input OPIN based on which of the first and second speeds is slower. In the instance of Figure IOC, the controller 76 selects the second user input UIN2 as the operating input OPIN due to the second speed being slower than the first speed (as indicated by a size of the arrows UIN1, UIN2). In some instances, the controller 76 may select the first user input UIN1 or the second user input UIN2 as the operating input OPIN based on which of the first and second speeds is faster. In some instances, the controller 76 may calculate an average of the first speed and the second speed and provide the operating input OPIN accordingly.

[0099] In instances where operation of the drive system 48 based on the first user input UIN1 facilitates movement of the support structure 32 in a first direction and operation of the drive system 48 based on the second user input UIN2 facilitates movement of the support structure 32 in an opposing second direction, the controller 76 may select either the first user input UIN1 or the second user input UIN2 as the operating input OPIN. For example, in instances where the patient transport apparatus 30 is moving in the first direction, the controller 76 may select the second user input UIN2 as the operating input OPIN (as indicated by the dashed and solid arrows) to cause the patient transport apparatus 30 to change direction. In instances where the patient transport apparatus 30 is moving in the second direction, the controller 76 may select the first user input UIN1 as the operating input OPIN to cause the patient transport apparatus 30 to change direction. In some instances, the controller 76 may control the drive system 48 to inhibit the drive system 48 from facilitating movement of the support structure 32 in response to the first and second userDocket No. 060252.01207interfaces 98, 106 receiving opposing direction input controls. The controller 76 may inhibit the drive system 48 by operating the drive system 48 in the stop mode MS.

[0100] The controller 76 may be configured to simultaneously operate the drive system 48 in a state of the above-described states and in the run mode MR. As previously described, the controller 76 may be configured to operate the drive system 48 in a loaded state LS, a high incline state HINS, a lowered state LWS, and / or a raised state RS. In instances where the controller 76 is simultaneously operating in the loaded state LS, the high incline state HINS, and / or the raised state RS and in the run mode MR, the controller 76 may at least partially limit operation of the drive system 48. For example, in an instance where the controller 76 operates the drive system 48 to facilitate movement of the support structure 32 at a first speed during operation in the run mode MR, the controller 76 may operate the drive system 48 to facilitate movement of the support structure 32 at a second speed slower than the first speed. As another example, in an instance where the controller 76 operates the drive system 48 to facilitate movement of the support structure 32 using a first amount of torque during operation in the run mode MR, the controller 76 may operate the drive system 48 to facilitate movement of the support structure 32 using a second amount of torque lower than the first amount of torque.

[0101] For example, in the instance of Figure 11, the controller 76 simultaneously operates the drive system 48 in the high incline state HINS and in the run mode MR. As shown, the controller 76 operates the drive system 48 in the high incline state HINS in response to determining that the sensed angle 0 is greater than a predetermined threshold angle value Ot. In the instance of Figure 11, the drive system 48 is partially limited to cause movement of the support structure 32 at a slower speed, which is represented by the solid arrow S2. For reference, the dashed arrow S 1 represents a speed of movement of the support structure 32 during operation of the drive system 48 in the run mode MR and not in the high incline state HINS, where a size of the dashed arrow SI and a size of the solid arrow S2 correspond to respective speeds of movement. In some instances, the slower speed may be based on the angle 0. For instance, the greater the angle 0, the slower the slower speed, hi some instances, the controller 76 may inhibit the drive system 48 from facilitating movement of the support structure 32 in response to the angle 0 being greater than a predetermined maximum angle value, the predetermined maximum angle value being greater than the predetermined threshold angle value 0t. The controller 76 may inhibit the drive system 48 by operating the drive system 48 in the stop mode MS. Additionally, it should be noted that, thoughDocket No. 060252.01207the drive system 48 is partially limited to cause movement of the support structure 32 at a slower speed, the controller 76 may control the drive system 48 using a greater amount of torque.

[0102] As another example, in the instance of Figure 12, the controller 76 simultaneously operates the drive system 48 in the loaded state LS and in the run mode MR. As shown, the controller 76 operates the drive system 48 in the loaded state LS in response to determining that the sensed weight of the patient on the patient support deck 38 is greater than a predetermined threshold weight value. In the instance of Figure 12, the drive system 48 is partially limited to cause movement of the support structure 32 at a slower speed, which is represented by the solid arrow S2. For reference, the dashed arrow SI represents a speed of movement of the support structure 32 during operation of the drive system 48 in the run mode MR and not in the loaded state LS (i.e.. without a patient being disposed on the patient support deck 38), where a size of the dashed arrow SI and a size of the solid arrow S2 correspond to respective speeds of movement. In some instances, the slower speed may be based on the weight of the patient. For instance, the greater the weight of the patient, the slower the slower speed. In some instances, the controller 76 may inhibit the drive system 48 from facilitating movement of the support structure 32 in response to the weight of the patient being greater than a predetermined maximum weight value, the predetermined maximum weight value being greater than the predetermined threshold weight value. The controller 76 may inhibit the drive system 48 by operating the drive system 48 in the stop mode MS. Additionally, it should be noted that, though the drive system 48 is partially limited to cause movement of the support structure 32 at a slower speed, the controller 76 may control the drive system 48 using a greater amount of torque.

[0103] In some instances, the controller 76 may be configured to operate the drive system 48 in different ways depending on the direction of movement relative to the incline, as well as based on the amount of incline. For example, the controller 76 may operate the drive system 48 at relatively high speed and / or torque when traveling up an incline, and may operate the drive system 48 at a relatively low speed and / or torque when traveling down an incline. In some instances, the controller 76 may operate the drive system 48 at relatively high speed and / or torque when traveling down an incline, and may operate the drive system 48 at a relatively low speed and / or torque when traveling up an incline. In some instances, the controller 76 may determine whether to operate at a relatively high or low speed and / or torque based on the direction of movement relative to the incline, based on the intensity of the incline, based on the terrain of theDocket No. 060252.01207incline, based on the presence of the patient or weight on the patient support deck 38, based on the number of caregivers present, or combinations thereof. Other configurations are contemplated.

[0104] As another example, in the instance of Figure 13B, the controller 76 simultaneously operates the drive system 48 in the lowered state LWS and in the run mode MR. As shown, the controller 76 operates the drive system 48 in the lowered state LWS in response to determining that the height Hl of the patient support deck 38 with respect to the base 34 is less than a predetermined height threshold HT. In the instance of Figure 13B, the drive system 48 is partially limited to cause movement of the support structure 32 at a slower speed, which is represented by the solid arrow S2. For reference, the dashed arrow SI in Figure 13A represents a speed of movement of the support structure 32 during operation of the drive system 48 in the run mode MR and not in the lowered state LWS or in the raised state RS, where a size of the dashed arrow SI and a size of the solid arrow S2 correspond to respective speeds of movement. In some instances, the slower speed may be based on the height of the base 34 or the patient support deck 38 with respect to the other. For instance, the lower the height of the patient support deck 38 with respect to the base 34, the slower the slower speed. In some instances, the controller 76 may inhibit the drive system 48 from facilitating movement of the support structure 32 in response to the height of the base 34 or the patient support deck 38 with respect to the other being less than a predetermined minimum height value, the predetermined minimum height value being less than the predetermined threshold height value. The controller 76 may inhibit the drive system 48 by operating the drive system 48 in the stop mode MS. Additionally, it should be noted that, though the drive system 48 is partially limited to cause movement of the support structure 32 at a slower speed, the controller 76 may control the drive system 48 using a greater amount of torque.

[0105] As another example, in the instance of Figure 13C, the controller 76 simultaneously operates the drive system 48 in the raised state RS and in the run mode MR. As shown, the controller 76 operates the drive system 48 in the raised state RS in response to determining that the height H2 of the patient support deck 38 with respect to the base 34 is greater than a predetermined height threshold HT. In the instance of Figure 13C, the drive system 48 is partially limited to cause movement of the support structure 32 at a slower speed, which is represented by the solid arrow S2. For reference, the dashed arrow SI in Figure 13A represents a speed of movement of the support structure 32 during operation of the drive system 48 in the run mode MR and not in the lowered state LWS or in the raised state RS, where a size of the dashed arrow SIDocket No. 060252.01207and a size of the solid arrow S2 correspond to respective speeds of movement. Tn some instances, the slower speed may be based on the height of the base 34 or the patient support deck 38 with respect to the other. For instance, the greater the height of the patient support deck 38 with respect to the base 34, the slower the slower speed. In some instances, the controller 76 may inhibit the drive system 48 from facilitating movement of the support structure 32 in response to the height of the base 34 or the patient support deck 38 with respect to the other being greater than a predetermined maximum height value, the predetermined maximum height value being greater than the predetermined threshold height value. The controller 76 may inhibit the drive system 48 by operating the drive system 48 in the stop mode MS. Additionally, it should be noted that, though the drive system 48 is partially limited to cause movement of the support structure 32 at a slower speed, the controller 76 may control the drive system 48 using a greater amount of torque.

[0106] In some instances, the controller 76 may be configured to simultaneously operate the drive system 48 in more than one of the loaded state, the high incline state, and the lowered / raised state. In such instances, the controller 76 may further limit operation of the drive system 48. For example, as previously described, during operation of the drive system 48 in one of the loaded state LS, the high incline state HINS, the lowered state LWS, and the raised state RS, the controller 76 may partially limit operation of the drive system 48 to cause movement of the support structure 32 at a slower speed. During operation of the drive system 48 in more than one of the loaded state, the high incline state, and the lowered / raised state, the controller 76 may further limit operation of the drive system 48 to cause movement of the support structure 32 at an even slower speed. Similarly, as previously described, during operation of the drive system 48 in one of the loaded state LS, the high incline state HINS, the lowered state LWS, and the raised state RS, the controller 76 may partially limit operation of the drive system 48 to cause movement of the support structure 32 using a lower amount of torque. During operation of the drive system 48 in more than one of the loaded state LS. the high incline state HINS, the lowered state LWS. and the raised state RS, the controller 76 may further limit operation of the drive system 48 to cause movement of the support structure 32 using an even lower amount of torque. Alternatively, during operation of the drive system 48 in more than one of the loaded state LS, the high incline state HINS, the lowered state LWS, and the raised state RS, the controller 76 may inhibit operation of the drive system 48 by operating in the stop mode MS.Docket No. 060252.01207

[0107] For example, in the instance of Figure 14, the controller 76 simultaneously operates the drive system 48 in the loaded state LS, in the high incline state HINS and in the run mode MR. As shown, the controller 76 operates the drive system 48 in the loaded state LS in response to determining that the sensed weight of the patient on the patient support deck 38 is greater than a predetermined threshold weight value. Additionally, the controller 76 operates the drive system 48 in the high incline state HINS in response to determining that the sensed angle 0 is greater than a predetermined threshold angle value Ot. In the instance of Figure 14, the drive system 48 is partially limited to cause movement of the support structure 32 at a slower speed, which is represented by the solid arrow S3. For reference, the dashed arrow SI represents a speed of movement of the support structure 32 during operation of the drive system 48 in the run mode MR and not in the loaded state LS or the high incline state HINS, the dashed arrow S2 represents a speed of movement of the support structure 32 during operation of the drive system 48 in the run mode MR and in one of the loaded state LS and the high incline state HINS, where a size of the dashed arrows SI, S2 and a size of the solid arrow S3 correspond to respective speeds of movement. Additionally, it should be noted that, though the drive system 48 is partially limited to cause movement of the support structure 32 at a slower speed, the controller 76 may control the drive system 48 using a greater amount of torque.

[0108] The controller 76 may be configured to operate the drive system 48 in an outdoor mode MO or in an indoor mode MI. Generally, during operation of the drive system 48 in the outdoor mode MO, the controller 76 may be configured to operate the drive system 48 to facilitate a speed of movement of the support structure 32 along the floor surface F and / or to selectively modulate the application of torque to the drive system 48. During operation in the indoor mode MI, the controller 76 at least partially limits operation of the drive system 48. The controller 76 may at least partially limit operation of the drive system 48 in a number of different ways. For example, referring to Figures 15A and 15B, the controller 76 may operate the drive system 48 (e.g., the hub motor 72) to facilitate movement of the support structure along the floor surface F at a first speed S 1 during operation in the outdoor mode MO OUTM and at a second speed S2 slower than the first speed during operating in the indoor mode MI. As another example, the controller 76 may at least partially limit the application of torque to the drive system 48 in the indoor mode MI relative to the outdoor mode MO. For instance, the controller 76 may operate the hub motor 72 to generate a first amount of torque to drive the wheel 50 in the outdoor mode MO and toDocket No. 060252.01207generate a second amount of torque to drive the wheel 50 in the indoor mode MI, the second amount of torque being less than the first amount of torque.

[0109] The controller 76 may be configured to simultaneously operate the drive system 48 in a state of the above-described states and in the indoor mode MI or the outdoor mode MO. As previously described, the controller 76 may be configured to operate the drive system 48 in a loaded state LS, a high incline state HINS. a lowered state LWS, and / or a raised state RS. Operation of the drive system 48 in a state of the above-described states may vary based on whether the drive system 48 is also operating in either the indoor mode MI or the outdoor mode MO.

[0110] For example, operation of the drive system 48 in the high incline state may vary based on whether the drive system 48 is also operating in either the indoor mode MI or the outdoor mode MO. In one such instance, the drive system 48 may optionally omit operation in the high incline state during simultaneous operation of the drive system 48 in the high incline state and in the indoor mode MI. For example, the drive system 48 may assume that the patient transport apparatus 30 is located indoors may not experience high inclines while located indoors and ignore sensed readings received from the incline sensor 110. Contrastingly, during simultaneous operation of the drive system 48 in the high incline state and in the outdoor mode MO, operation of the drive system 48 may be partially limited to facilitate movement of the support structure 32 at a first speed, wherein operation of the drive system 48 in just the outdoor mode MO facilitates movement of the support structure 32 at a second speed faster than the first speed.

[0111] As another example, operation of the drive system 48 in the loaded state may vary based on whether the drive system 48 is also operating in either the indoor mode MI or the outdoor mode MO. For example, during simultaneous operation of the drive system 48 in the loaded state and in the outdoor mode MO, operation of the drive system 48 may be partially limited to facilitate movement of the support structure 32 at a first speed, wherein operation of the drive system 48 in just the outdoor mode MO facilitates movement of the support structure 32 at a second speed faster than the first speed. Additionally, during simultaneous operation of the drive system 48 in the loaded state and in the indoor mode MI, operation of the drive system 48 may be partially limited to facilitate movement of the support structure 32 at a third speed slower than the first speed.

[0112] As another example, operation of the drive system 48 in the lowered / raised state may vary based on whether the drive system 48 is also operating in either the indoor mode MI or the outdoor mode MO. For example, during simultaneous operation of the drive system 48 in theDocket No. 060252.01207lowered / raised state and in the outdoor mode MO, operation of the drive system 48 may be partially limited to facilitate movement of the support structure 32 at a first speed, wherein operation of the drive system 48 in just the outdoor mode MO facilitates movement of the support structure 32 at a second speed faster than the first speed. Additionally, during simultaneous operation of the drive system 48 in the lowered / raised state and in the indoor mode MI, operation of the drive system 48 may be partially limited to facilitate movement of the support structure 32 at a third speed slower than the first speed.

[0113] Operation of the lift mechanism 37 may vary during operation of the drive system 48 in the outdoor mode MO and in the indoor mode MI.

[0114] For example, the controller 76 may limit a maximum height of the patient support deck 38 with respect to the base 34 during operation in the indoor mode MI. As shown in Figures 16A and 16B, during operation of the drive system 48 in the outdoor mode MO, the controller 76 may be configured to operate the lift mechanism 37 to raise or lower the base 34 or the patient support deck 38 with respect to the other based on a first maximum height MAX_H1 and, during operation of the drive system 48 in the indoor mode MI, the controller 76 may be configured to operate the lift mechanism 37 to raise or lower the base 34 or the patient support deck 38 with respect to the other based on a second maximum height MAX_H2. In the instance of Figures 16A and 16B, the second maximum height MAX_H2 is less than the first maximum height MAX_H1. For instance, during operation of the drive system 48 in the outdoor mode MO, the controller 76 may be configured to operate the lift mechanism 37 to raise the patient support deck 38 with respect to the base 34 such that a height of the patient support deck 38 with respect to the base 34 does not exceed the first maximum height MAX_H1 and. during operation of the drive system 48 in the indoor mode MI, the controller 76 may be configured to operate the lift mechanism 37 to raise the patient support deck 38 with respect to the base 34 such that a height of the patient support deck 38 with respect to the base 34 does not exceed the second maximum height MAX H2.

[0115] As another example, the controller 76 may limit a speed at which the patient support deck 38 is raised with respect to the base 34 during operation in the indoor mode MI. As shown in Figures 16A and 16B, during operation of the drive system 48 in the outdoor mode MO, the controller 76 may be configured to operate the lift mechanism 37 to raise or lower the base 34 or the patient support deck 38 with respect to the other at a first speed SI and, during operation of the drive system 48 in the indoor mode MI, the controller 76 may be configured to operate the liftDocket No. 060252.01207mechanism 37 to raise the patient support deck 38 with respect to the base 34 at a second speed S2 lower than the first speed SI.

[0116] The controller 76 may further limit a speed at which the base 34 or patient support deck 38 is raised or lowered with respect to the other while a patient is disposed on the patient support deck 38 during operation of the drive system 48 in the indoor mode MI or the outdoor mode MO. As shown in Figure 17A, during simultaneous operation of the drive system 48 in the outdoor mode MO and in the loaded state LS, the controller 76 may be configured to operate the lift mechanism 37 to raise or lower the base 34 or the patient support deck 38 with respect to the other at a first reduced speed SRI lower than the first speed SI of Figure 16A (reproduced in Figure 17A using a dashed arrow). As shown in Figure 17B, during simultaneous operation of the drive system 48 in the indoor mode MI and in the loaded state LS, the controller 76 may be configured to operate the lift mechanism 37 to raise or lower the base 34 or the patient support deck 38 with respect to the other at a second reduced speed SR2 lower than the second speed S2 of Figure 16B (reproduced in Figure 17B using a dashed arrow).

[0117] In some instances, the controller 76 may detect a potential collision event based on whether the controller 76 is operating in the outdoor mode MO or in the indoor mode MI. Generally, during operation of the drive system 48 in the outdoor mode MO, the controller 76 may detect a potential collision event if the obstruction sensed by the proximity sensor 114 is greater than a predetermined height threshold such that small obstructions (e.g., grass, small rocks, etc.) do not trigger a potential collision event. Contrastingly, during operation of the drive system 48 in the indoor mode MI, the controller 76 may detect a potential collision event regardless of the height of the obstruction sensed by the proximity sensor 114 as it may be assumed that buildings are relatively clear of obstructions. For example, referring to Figure 18, during operation of the drive system 48 in the outdoor mode MO, the controller 76 may be configured determine a height of an obstruction based on a sensed reading of the obstruction provided by the proximity sensor 114 and detect a potential outdoor collision event in response to the height of the obstruction being greater than a predetermined height threshold HTC. Contrastingly, during operation of the drive system 48 in the indoor mode MI, the controller 76 may be configured detect a potential indoor collision event in response to the proximity sensor 114 providing a sensed reading of an obstruction. The controller 76 may be configured to inhibit movement of the support structure 32 along a floor surface F in response to detecting the potential outdoor collision event and / or or theDocket No. 060252.01207potential indoor collision event. For instance, the controller 76 may operate the brake assembly 66 (e.g., via operation of the actuator BA) to inhibit or cease movement of the support structure 32 in response to detecting either the potential outdoor collision event or the potential indoor collision event.

[0118] In some instances, the controller 76 may inhibit operation of the drive system 48 during operation in the indoor mode MI and outdoor mode MO based on sensed readings from the presence sensor 116. Additionally, the conditions for inhibiting operation of the drive system 48 based on sensed readings from the presence sensor 116 may vary based on whether the drive system 48 is operating in the indoor mode MI or in the outdoor mode MO. For example, during operation of the drive system 48 in the indoor mode MI, the controller 76 may inhibit movement of the support structure 32 along a floor surface F in response to both of the first presence sensor 116-1 (shown in Figure 8B) not sensing the presence of the first user proximate the head end HE and the second presence sensor 116-2 (shown in Figure 8B) not sensing the presence of the second user proximate the foot end FE. In this way, the drive system 48 is not inhibited during operation in the indoor mode MI unless both the first and second users are no longer proximate the respective end HE, FE of the patient support apparatus, as shown in Figure 19A. During operation of the drive system 48 in the outdoor mode MO, the controller 76 may inhibit movement of the support structure 32 along a floor surface F in response to one of the first presence sensor 116-1 not sensing the presence of the first user proximate the head end HE and the second presence sensor 116-2 not sensing the presence of the second user proximate the foot end FE. In this way, the drive system 48 is inhibited during operation in the outdoor mode MO if one of the first and second users are no longer proximate the respective end HE, FE of the patient support apparatus, as shown in Figure 19B.

[0119] Operation of the user feedback device 80 may vary during operation of the drive system 48 in the outdoor mode MO and in the indoor mode MI. As previously stated, the user feedback device 80 may be configured to provide a visual notification, an audible notification, and / or a tactile notification. In instances where the user feedback device 80 provides an audible notification, during operation of the drive system 48 in the outdoor mode MO, the controller 76 may be configured to operate the user feedback device 80 to provide a first auditory notification including a first volume level, and during operation of the drive system 48 in the indoor mode MI, the controller 76 may be configured to operate the user feedback device 80 to provide a secondDocket No. 060252.01207auditory notification including a second volume level, the second volume level being less than the first volume level. In instances where the user feedback device 80 provides a visual notification, during operation of the drive system 48 in the outdoor mode MO, the controller 76 may be configured to operate the user feedback device 80 to provide a first visual notification including a first brightness level, and during operation of the drive system 48 in the indoor mode MI, the controller 76 may be configured to operate the user feedback device 80 to provide a second visual notification including a second brightness level, the second brightness level being less than the first brightness level. In instances where the user feedback device 80 provides a tactile notification, during operation of the drive system 48 in the outdoor mode MO, the controller 76 may be configured to operate the user feedback device 80 to provide a first tactile notification including a first vibrational amplitude, and during operation of the drive system 48 in the indoor mode MI, the controller 76 may be configured to operate the user feedback device 80 to provide a second tactile notification including a second vibrational amplitude, the second vibrational amplitude being less than the first vibrational amplitude.

[0120] Several configurations have been discussed in the foregoing description. However, the configurations discussed herein are not intended to be exhaustive or limit the invention to any particular form. The terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations are possible in light of the above teachings and the invention may be practiced otherwise than as specifically described.

[0121] The present disclosure also comprises the following clauses, with specific features laid out in dependent clauses, that may specifically be implemented as described in greater detail with reference to the configurations and drawings above.CLAUSESI. A patient transport apparatus for transporting a patient, the patient transport apparatus comprising:a support structure defining a head end and a foot end, the support structure including: a base, anda patient support deck operatively attached to the base and defining a patient support surface to support the patient;a drive system configured to facilitate movement of the support structure along a floor surface;Docket No. 060252.01207a first user interface located proximate the head end and being arranged for engagement by a first user;a second user interface located proximate the foot end and being arranged for engagement by a second user; anda controller in communication with the drive system, the first user interface, and the second user interface, and being configured to operate the drive system between:a run mode to operate the drive system to facilitate movement of the support structure along the floor surface in response to the first user being in engagement with the first user interface and the second user being in engagement with the second user interface; anda stop mode to inhibit the drive system from facilitating movement of the support structure along the floor surface in response to one of: the first user not being in engagement with the first user interface and the second user not being in engagement with the second user interface.II. The patient transport apparatus of clause I, wherein the drive system includes at least one powered caster assembly operatively attached to the base for facilitating movement of the support structure along a floor surface, the at least one powered caster assembly comprising:a wheel for contacting the floor surface; anda hub motor coupled to the wheel and being configured to selectively modulate torque to drive the wheel to facilitate movement of the support structure along the floor surface.III. The patient transport apparatus of clause II, wherein the controller is further configured to:during operation of the drive system in the run mode, operate the hub motor to selectively generate torque to drive the wheel of the at least one powered caster assembly; andduring operation of the drive system in the stop mode, inhibit the hub motor from generating torque.IV. The patient transport apparatus of any preceding clause, wherein the first user interface is configured to receive a first user input from the first user, and wherein the controller is furtherDocket No. 060252.01207configured to operate the drive system to facilitate movement of the support structure along the floor surface based on the first user input during operation in the run mode.V. The patient transport apparatus of clause IV, wherein the second user interface is configured to receive a second user input from the second user, and wherein the controller is further configured to operate the drive system to facilitate movement of the support structure along the floor surface based on the second user input during operation in the run mode.VI. The patient transport apparatus of clause V, wherein the controller is further configured to:determine an operating input based on the first user input and the second user input in response to the first user interface receiving the first user input and the second user interface receiving the second user input; andoperate the drive system to facilitate movement of the support structure along the floor surface based on the operating input during operation in the run mode.VII. The patient transport apparatus of clause VI, wherein:operation of the drive system based on the first user input includes operation of the drive system to facilitate movement of the support structure along the floor surface at a first speed;operation of the drive system based on the second user input includes operation of the drive system to facilitate movement of the support structure along the floor surface at a second speed slower than the first speed; andthe controller is further configured to select the second user input as the operating input.VIII. The patient transport apparatus of any preceding clause, wherein the first user interface and the second user interface are arranged for movement between a deployed position and a stowed position, and wherein:the first user interface is arranged for engagement by the first user in the deployed position; andthe second user interface arranged for engagement by the second user in the deployed position.IX. The patient transport apparatus of any preceding clause, wherein the drive system includes at least one powered caster assembly operatively attached to the base for facilitatingDocket No. 060252.01207movement of the support structure along a floor surface, the at least one powered caster assembly comprising:a wheel for contacting the floor surface:a wheel support operatively attached to the base and arranged to support the wheel for rotation about a rotational axis and for swiveling about a swivel axis; anda steer lock assembly including an actuator operable between a steer locked state that impedes swiveling of the wheel about the swivel axis, and a non-steer locked state. X. The patient transport apparatus of clause IX, further comprising a steer lock assembly sensor configured to sense operation of the steer lock assembly in the steer locked state;wherein the controller is disposed in communication with the steer lock assembly sensor and the actuator of the steer lock assembly; andwherein the controller is configured to operate the drive system in the stop mode in response to the steer lock assembly sensor sensing operation of the steer lock assembly in the steer locked state.XI. The patient transport apparatus of any preceding clause, further comprising an incline sensor configured to sense an angle of one or more of the base and the patient support deck.XII. The patient transport apparatus of clause XI, wherein the controller is further defined as being in communication with the incline sensor and being further configured to:operate the drive system in a high incline state in response to determining that the angle of one or more of the base and the patient support deck is greater than a predetermined threshold angle value; andduring simultaneous operation of the drive system in the high incline state and in the run mode, at least partially limit operation of the drive system.XIII. The patient transport apparatus of clause XII, wherein the controller is configured to:during operation of the drive system in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at a first speed; and during simultaneous operation of the drive system in the high incline state and in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at a second speed slower than the first speed.Docket No. 060252.01207XIV. The patient transport apparatus of any of clauses XI-XIII, wherein the controller is further defined as being in communication with the incline sensor and being further configured to:operate the drive system in a high incline state in response to determining that the sensed angle is greater than a predetermined threshold angle value; andduring simultaneous operation of the drive system in the high incline state and in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at an incline speed, wherein the incline speed is based on the angle. XV. The patient transport apparatus of any of clauses XI-XIV, wherein the controller is further defined as being in communication with the incline sensor and being further configured to operate the drive system in the stop mode in response to determining that the angle of one or more of the base and the patient support deck is greater than a predetermined threshold angle value.XVI. The patient transport apparatus of any of clauses XI-XV, further comprising a patient load sensor configured to sense a patient disposed on the patient support surface.XVII. The patient transport apparatus of clause XVI, wherein the controller is further defined as being in communication with the patient load sensor, and wherein the controller is further configured to:operate the drive system in a loaded state in response to the patient load sensor sensing a patient disposed on the patient support surface;operate the drive system in a high incline state in response to determining that the angle of one or more of the base and the patient support deck is greater than a predetermined threshold angle value; andoperate the drive system in the stop mode in response to operating in the loaded state and in the high incline state.XVIII. The patient transport apparatus of any preceding clause, further comprising a patient load sensor configured to sense a patient disposed on the patient support surface, wherein the controller is further defined as being in communication with the patient load sensor and being further configured to:operate the drive system in a loaded state in response to the patient load sensor sensing a patient disposed on the patient support surface; andduring simultaneous operation of the drive system in the loaded state and in the run mode, at least partially limit operation of the drive system.Docket No. 060252.01207XIX. The patient transport apparatus of clause XVIII, wherein the controller is configured to:during operation of the drive system in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at a first speed; and during simultaneous operation of the drive system in the loaded state and in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at a second speed slower than the first speed.XX. The patient transport apparatus of clause XIX, wherein, in response to the patient load sensor not sensing a patient disposed on the patient support surface, the controller is further configured to operate the drive system in an override mode to facilitate movement of the support structure along the floor surface in response to one of; the first user being in engagement with the first user interface and the second user being in engagement with the second user interface.XXI. The patient transport apparatus of any preceding clause, further comprising a lift mechanism configured to raise or lower the base or the patient support deck with respect to the other, wherein the controller is further defined as being in communication with the lift mechanism, and wherein the controller is further configured to:operate the drive system in a raised state in response to a height of the base or the patient support deck with respect to the other being greater than a predetermined height threshold; andduring simultaneous operation of the drive system in the raised state and in the run mode, at least partially limit operation of the drive system.XXII. The patient transport apparatus of clause XXI, wherein the controller is configured to:during operation of the drive system in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at a first speed; and during simultaneous operation of the drive system in the raised state and in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at a second speed slower than the first speed.XXIII. The patient transport apparatus of any preceding clause, wherein the controller is further configured to operate the drive system in an override mode to facilitate movement of theDocket No. 060252.01207support structure along the floor surface in response to engagement with one or more of the first user interface and the second user interface.XXIV. The patient transport apparatus of any preceding clause, wherein at least one of the first user interface and the second user interface includes an engagement sensor configured to sense a force applied to at least one of the first user interface and the second user interface by a user; and wherein the controller is configured to determine that the user is in engagement with the at least one of the first user interface and the second user interface based on the sensed force.XXV. The patient transport apparatus of clause XXIV, wherein the controller is further configured to:operate the drive system in the run mode in response to the engagement sensor sensing a force exceeding a predetermined force engagement threshold, andtransition the drive system to the stop mode in response to the sensed force falling below the predetermined force engagement threshold.XXVI. The patient transport apparatus of any preceding clause, comprising at least one wheel operatively attached to the base and arranged for selective movement along the floor surface; andwherein the drive system includes a brake assembly coupled to the at least one wheel and configured for selective operation between:a braked state to at least partially inhibit rotation of the at least one wheel so as to at least partially inhibit movement of the patient transport apparatus along the floor surface, andan unbraked state to permit rotation of the at least one wheel so as to permit movement of the patient transport apparatus along the floor surface.XXVII. The patient transport apparatus of clause XXVI, wherein the brake assembly includes an actuator disposed in electronic communication with the controller for changing operation of the brake assembly between the braked state and the unbraked state.XXVIII. The patient transport apparatus of clause XXVII, wherein the controller is configured to drive the actuator to operate the brake assembly in the braked state in response to determining that the support structure is stationary.Docket No. 060252.01207XXIX. The patient transport apparatus of clause XXVIII, wherein the controller is configured to drive the actuator to operate the brake assembly in the unbraked state in response to detecting user engagement with at least one of the first user interface and the second user interface.XXX. The patient transport apparatus of clause XXIX, comprising an engagement sensor configured to sense a force applied by a user; andwherein the controller is configured to:determine that the user is in engagement with the patient transport apparatus based on the sensed force,operate the drive system in the run mode in response to the engagement sensor sensing a force exceeding a predetermined force engagement threshold, and transition the drive system to the stop mode in response to the sensed force falling below the predetermined force engagement threshold.XXXI. A patient transport apparatus for transporting a patient, the patient transport apparatus comprising:a support structure including:a base, anda patient support deck operatively attached to the base and defining a patient support surface to support the patient;a user interface arranged for engagement by a user;a drive system configured to facilitate movement of the support structure along a floor surface based on engagement of the user interface by the user;an environment sensor configured to provide a sensed reading of an environment in which the patient transport apparatus is located; anda controller in communication with the drive system and the environment sensor and configured to operate the drive system, wherein the controller is configured to:determine whether the patient transport apparatus is located indoors or outdoors based on the sensed reading provided by the environment sensor; andchange operation of the drive system between:an outdoor mode in response to the environment sensor sensing that the patient transport apparatus is located outside a building; andDocket No. 060252.01207an indoor mode to at least partially limit operation of the drive system in response to the environment sensor sensing that the patient transport apparatus is located indoors.XXXII. The patient transport apparatus of clause XXXI, wherein the controller is configured to:operate the drive system to facilitate movement of the support structure along the floor surface at a first speed during operation of the drive system in the outdoor mode, and operate the drive system to facilitate movement of the support structure along the floor surface at a second speed slower than the first speed during operation of the drive system in the indoor mode.XXXIII. The patient transport apparatus of any of clauses XXXI-XXXII, wherein the drive system includes at least one powered caster assembly operatively attached to the base for facilitating movement of the support structure along a floor surface, the at least one powered caster assembly comprising:a wheel for contacting the floor surface; anda hub motor coupled to the wheel and being configured to selectively modulate torque to drive the wheel to facilitate movement of the support structure along the floor surface.XXXIV. The patient transport apparatus of clause XXXIII, wherein the controller is configured to:operate the hub motor to generate a first amount of torque to drive the wheel of the at least one powered caster assembly during operation of the drive system in the outdoor mode, andoperate the hub motor to generate a second amount of torque to drive the wheel of the at least one powered caster assembly during operation of the drive system in the indoor mode, the second amount of torque being less than the first amount of torque.XXXV. The patient transport apparatus of clause XXXIV, further comprising an incline sensor configured to sense an angle of one or more of the base and the patient support deck, wherein the controller is further defined as being in communication with the incline sensor and being further configured to:Docket No. 060252.01207operate the drive system in a high incline state in response to determining that the sensed angle is greater than a predetermined threshold angle value, andoperate the hub motor to generate a first increased amount of torque to drive the wheel of the at least one powered caster assembly during simultaneous operation of the drive system in the high incline state and in the outdoor mode, the first increased amount of torque being greater than the first amount of torque.XXXVI. The patient transport apparatus of any of clauses XXXI-XXXV, further comprising a lift mechanism configured to raise or lower the base or the patient support deck with respect to the other.XXXVII. The patient transport apparatus of clause XXXVI, wherein the controller is further defined as being in communication with the lift mechanism and configured to operate the lift mechanism, and wherein the controller is further configured to:operate the lift mechanism to raise the patient support deck with respect to the base based on a first maximum height during operation of the drive system in the outdoor mode, andoperate the lift mechanism to raise the patient support deck with respect to the base based on a second maximum height during operation of the drive system in the indoor mode, the second maximum height being less than the first maximum height.XXXVIII. The patient transport apparatus of any of clauses XXXVI-XXXVII, wherein the controller is further defined as being in communication with the lift mechanism configured to operate the lift mechanism, and wherein the controller is further configured to:operate the lift mechanism to raise or lower the base or the patient support deck with respect to the other at a first speed during operation of the drive system in the outdoor mode, andoperate the lift mechanism to raise or lower the base or the patient support deck with respect to the other at a second speed during operation of the drive system in the indoor mode, the second speed being less than the first speed.XXXIX. The patient transport apparatus of clause XXXVIII, further comprising a patient load sensor configured to sense a patient disposed on the patient support surface, wherein the controller is further defined as being in communication with the patient load sensor, and wherein the controller is further configured to:Docket No. 060252.01207operate the drive system in a loaded state in response to the patient load sensor sensing a patient disposed on the patient support surface,operate the lift mechanism to raise or lower the base or the patient support deck with respect to the other at a first reduced speed less than the first speed during simultaneous operation of the drive system in the loaded state and in the outdoor mode, andoperate the lift mechanism to raise or lower the base or the patient support deck with respect to the other at a second reduced speed less than the second speed during simultaneous operation of the drive system in the loaded state and in the indoor mode. XL. The patient transport apparatus of any of clauses XXXLXXXIX, further comprising a proximity sensor disposed in communication with the controller and configured to provide a sensed reading of an obstruction.XLI. The patient transport apparatus of clause XL, wherein the controller is further configured to:determine a height of the obstruction based on the sensed reading, and detect a potential outdoor collision event during operation of the drive system in the outdoor mode in response to the height of the obstruction being greater than a predetermined height threshold and inhibit movement of the support structure along the floor surface in response to detecting the potential outdoor collision event.XLII. The patient transport apparatus of any of clauses XL-XLI, wherein the controller is further configured to detect a potential indoor collision event during operation of the drive system in the indoor mode in response to the proximity sensor providing the sensed reading of the obstruction and inhibit movement of the support structure along the floor surface in response to detecting the potential indoor collision event.XLIII. The patient transport apparatus of any of clauses XXXI-XLIL further comprising a user feedback device disposed in communication with the controller and configured to provide a user notification; andwherein the controller configured to operate the user feedback device.XLIV. The patient transport apparatus of clause XLIII, wherein the user notification is further defined as an auditory notification including a volume level: andwherein the controller is further configured to:Docket No. 060252.01207operate the user feedback device to provide a first auditory notification including a first volume level during operation of the drive system in the outdoor mode, and operate the user feedback device to provide a second auditory notification including a second volume level during operation of the drive system in the indoor mode, the second volume level being less than the first volume level.XLV. The patient transport apparatus of any of clauses XLIII-XLIV, wherein the user notification is further defined as a visual notification including a brightness level; and wherein the controller is further configured to:operate the user feedback device to provide a first visual notification including a first brightness level during operation of the drive system in the outdoor mode, and operate the user feedback device to provide a second visual notification including a second brightness level during operation of the drive system in the indoor mode, the second brightness level being less than the first brightness level.XLVI. The patient transport apparatus of any of clauses XXXI-XLV, wherein the support structure defines a head end and a foot end;wherein the user interface is located adjacent to the head end of the base; andfurther comprising:a first presence sensor located proximate the head end of the base and configured to sense a presence of a first user proximate the head end of the base, anda second presence sensor located proximate the foot end of the base and configured to sense a presence of a second user proximate the foot end of the base.XL VII. The patient transport apparatus of clause XLVI, wherein the controller is disposed in communication with the first and second presence sensors; andwherein the controller is further configured to:inhibit movement of the support structure along the floor surface during operation of the drive system in the indoor mode in response to both of: the first presence sensor not sensing the presence of the first user and the second presence sensor not sensing the presence of the second user, andinhibit movement of the support structure along the floor surface during operation of the drive system in the outdoor mode in response to one of: the firstDocket No. 060252.01207presence sensor not sensing the presence of the first user and the second presence sensor not sensing the presence of the second user.XLVIII. The patient transport apparatus of any of clauses XXXI-XLVII. wherein the environment sensor includes a temperature sensor configured to provide a sensed reading of a temperature of the environment in which the patient transport apparatus is located.XLIX. The patient transport apparatus of clause XLVIII, wherein the controller is further configured to determine whether the patient transport apparatus is located indoors or outdoors based on the sensed reading of the temperature and a predetermined temperature threshold.L. The patient transport apparatus of any of clauses XLVIILXLIX, wherein the controller is further configured to determine whether the patient transport apparatus is located indoors or outdoors based on changes in the sensed reading of the temperature.LI. The patient transport apparatus of any of clauses XXX L, wherein the environment sensor includes a humidity sensor configured to provide a sensed reading of a humidity of the environment in which the patient transport apparatus is located; andwherein the controller is further configured to determine whether the patient transport apparatus is located indoors or outdoors based on the sensed reading of the humidity and a predetermined humidity threshold.LIL The patient transport apparatus of any of clauses XXXLLI, wherein the environment sensor includes a location sensor configured to provide a location of the environment in which the patient transport apparatus is located; andwherein the controller is further configured to determine whether the patient transport apparatus is located indoors or outdoors based on the location provided by the location sensor.Lin. The patient transport apparatus of any of clauses XXXLLII, wherein the environment sensor includes a photosensor configured to provide a sensed reading of a brightness of the environment in which the patient transport apparatus is located; andwherein the controller is further configured to determine whether the patient transport apparatus is located indoors or outdoors based on the sensed reading of the brightness and a predetermined lumen threshold.LIV. The patient transport apparatus of any of clauses XXXLLIII, wherein the environment sensor includes a force sensor configured to provide a sensed reading of force applied to the drive system during movement of the support structure along a floor surface; andDocket No. 060252.01207wherein the controller is further configured to determine whether the patient transport apparatus is located indoors or outdoors based on the sensed reading of the force applied to the drive system and a predetermined force threshold.LV. The patient transport apparatus of any of clauses XXXI-LIV, wherein the user interface includes an engagement sensor configured to sense a force applied to the user interface by the user: andwherein the controller is configured to determine that the user is in engagement with the user interface based on the sensed force.LVI. The patient transport apparatus of clause LV, wherein the outdoor mode and the indoor mode each respectively define:a run mode to facilitate movement of the support structure along the floor surface in response to the user being in engagement with the user interface, anda stop mode to inhibit the drive system from facilitating movement of the support structure along the floor surface in response to the user not being in engagement with the user interface; andwherein the controller is further configured to:operate the drive system in the run mode in response to the engagement sensor sensing a force exceeding a predetermined force engagement threshold, and transition the drive system to the stop mode in response to the sensed force falling below the predetermined force engagement threshold.LVII. The patient transport apparatus of any of clauses XXXI-LVI, comprising at least one wheel operatively attached to the base and arranged for selective movement along the floor surface; andwherein the drive system includes a brake assembly coupled to the at least one wheel and configured for selective operation between:a braked state to at least partially inhibit rotation of the at least one wheel so as to at least partially inhibit movement of the patient transport apparatus along the floor surface, andan unbraked state to permit rotation of the at least one wheel so as to permit movement of the patient transport apparatus along the floor surface.Docket No. 060252.01207LVITI. The patient transport apparatus of clause LVIT, wherein the brake assembly includes an actuator disposed in electronic communication with the controller for changing operation of the brake assembly between the braked state and the unbraked state.LIX. The patient transport apparatus of clause LVIII, wherein the controller is configured to drive the actuator to operate the brake assembly in the braked state in response to determining that the support structure is stationary.LX. The patient transport apparatus of clause LIX, wherein the controller is configured to drive the actuator to operate the brake assembly in the unbraked state in response to detecting user engagement with the user interface.

Claims

Docket No. 060252.01207CLAIMS1. A patient transport apparatus for transporting a patient, the patient transport apparatus comprising:a support structure defining a head end and a foot end, the support structure including: a base, anda patient support deck operatively attached to the base and defining a patient support surface to support the patient;a drive system configured to facilitate movement of the support structure along a floor surface;a first user interface located proximate the head end and being arranged for engagement by a first user;a second user interface located proximate the foot end and being arranged for engagement by a second user; anda controller in communication with the drive system, the first user interface, and the second user interface, and being configured to operate the drive system between:a run mode to operate the drive system to facilitate movement of the support structure along the floor surface in response to the first user being in engagement with the first user interface and the second user being in engagement with the second user interface; anda stop mode to inhibit the drive system from facilitating movement of the support structure along the floor surface in response to one of: the first user not being in engagement with the first user interface and the second user not being in engagement with the second user interface.

2. The patient transport apparatus of claim 1, wherein the drive system includes at least one powered caster assembly operatively attached to the base for facilitating movement of the support structure along a floor surface, the at least one powered caster assembly comprising:a wheel for contacting the floor surface; anda hub motor coupled to the wheel and being configured to selectively modulate torque to drive the wheel to facilitate movement of the support structure along the floor surface.Docket No. 060252.012073. The patient transport apparatus of claim 2, wherein the controller is further configured to:during operation of the drive system in the run mode, operate the hub motor to selectively generate torque to drive the wheel of the at least one powered caster assembly; andduring operation of the drive system in the stop mode, inhibit the hub motor from generating torque.

4. The patient transport apparatus of claim 1, wherein the first user interface is configured to receive a first user input from the first user, and wherein the controller is further configured to operate the drive system to facilitate movement of the support structure along the floor surface based on the first user input during operation in the run mode.

5. The patient transport apparatus of claim 4, wherein the second user interface is configured to receive a second user input from the second user, and wherein the controller is further configured to operate the drive system to facilitate movement of the support structure along the floor surface based on the second user input during operation in the run mode.

6. The patient transport apparatus of claim 5, wherein the controller is further configured to:determine an operating input based on the first user input and the second user input in response to the first user interface receiving the first user input and the second user interface receiving the second user input; andoperate the drive system to facilitate movement of the support structure along the floor surface based on the operating input during operation in the run mode.

7. The patient transport apparatus of claim 6, wherein:operation of the drive system based on the first user input includes operation of the drive system to facilitate movement of the support structure along the floor surface at a first speed;operation of the drive system based on the second user input includes operation of the drive system to facilitate movement of the support structure along the floor surface at a second speed slower than the first speed; andthe controller is further configured to select the second user input as the operating input.Docket No. 060252.012078. The patient transport apparatus of claim 1 , wherein the first user interface and the second user interface are arranged for movement between a deployed position and a stowed position, and wherein:the first user interface is arranged for engagement by the first user in the deployed position; andthe second user interface arranged for engagement by the second user in the deployed position.

9. The patient transport apparatus of claim 1, wherein the drive system includes at least one powered caster assembly operatively attached to the base for facilitating movement of the support structure along a floor surface, the at least one powered caster assembly comprising:a wheel for contacting the floor surface;a wheel support operatively attached to the base and arranged to support the wheel for rotation about a rotational axis and for swiveling about a swivel axis; anda steer lock assembly including an actuator operable between a steer locked state that impedes swiveling of the wheel about the swivel axis, and a non-steer locked state.

10. The patient transport apparatus of claim 9, further comprising a steer lock assembly sensor configured to sense operation of the steer lock assembly in the steer locked state;wherein the controller is disposed in communication with the steer lock assembly sensor and the actuator of the steer lock assembly; andwherein the controller is configured to operate the drive system in the stop mode in response to the steer lock assembly sensor sensing operation of the steer lock assembly in the steer locked state.

11. The patient transport apparatus of claim 1, further comprising an incline sensor configured to sense an angle of one or more of the base and the patient support deck.

12. The patient transport apparatus of claim 11, wherein the controller is further defined as being in communication with the incline sensor and being further configured to:operate the drive system in a high incline state in response to determining that the angle of one or more of the base and the patient support deck is greater than a predetermined threshold angle value; andduring simultaneous operation of the drive system in the high incline state and in the run mode, at least partially limit operation of the drive system.Docket No. 060252.0120713. The patient transport apparatus of claim 12, wherein the controller is configured to:during operation of the drive system in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at a first speed; and during simultaneous operation of the drive system in the high incline state and in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at a second speed slower than the first speed.

14. The patient transport apparatus of claim 11, wherein the controller is further defined as being in communication with the incline sensor and being further configured to:operate the drive system in a high incline state in response to determining that the sensed angle is greater than a predetermined threshold angle value; andduring simultaneous operation of the drive system in the high incline state and in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at an incline speed, wherein the incline speed is based on the angle.

15. The patient transport apparatus of claim 11, wherein the controller is further defined as being in communication with the incline sensor and being further configured to operate the drive system in the stop mode in response to determining that the angle of one or more of the base and the patient support deck is greater than a predetermined threshold angle value.

16. The patient transport apparatus of claim 11, further comprising a patient load sensor configured to sense a patient disposed on the patient support surface.

17. The patient transport apparatus of claim 16, wherein the controller is further defined as being in communication with the patient load sensor, and wherein the controller is further configured to:operate the drive system in a loaded state in response to the patient load sensor sensing a patient disposed on the patient support surface;operate the drive system in a high incline state in response to determining that the angle of one or more of the base and the patient support deck is greater than a predetermined threshold angle value; andoperate the drive system in the stop mode in response to operating in the loaded state and in the high incline state.

18. The patient transport apparatus of claim 1, further comprising a patient load sensor configured to sense a patient disposed on the patient support surface, wherein the controller isDocket No. 060252.01207further defined as being in communication with the patient load sensor and being further configured to:operate the drive system in a loaded state in response to the patient load sensor sensing a patient disposed on the patient support surface; andduring simultaneous operation of the drive system in the loaded state and in the run mode, at least partially limit operation of the drive system.

19. The patient transport apparatus of claim 18, wherein the controller is configured to:during operation of the drive system in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at a first speed; and during simultaneous operation of the drive system in the loaded state and in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at a second speed slower than the first speed.

20. The patient transport apparatus of claim 19, wherein, in response to the patient load sensor not sensing a patient disposed on the patient support surface, the controller is further configured to operate the drive system in an override mode to facilitate movement of the support structure along the floor surface in response to one of: the first user being in engagement with the first user interface and the second user being in engagement with the second user interface.

21. The patient transport apparatus of claim 1, further comprising a lift mechanism configured to raise or lower the base or the patient support deck with respect to the other, wherein the controller is further defined as being in communication with the lift mechanism, and wherein the controller is further configured to:operate the drive system in a raised state in response to a height of the base or the patient support deck with respect to the other being greater than a predetermined height threshold; andduring simultaneous operation of the drive system in the raised state and in the run mode, at least partially limit operation of the drive system.

22. The patient transport apparatus of claim 21, wherein the controller is configured to:during operation of the drive system in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at a first speed; andDocket No. 060252.01207during simultaneous operation of the drive system in the raised state and in the run mode, operate the drive system to facilitate movement of the support structure along the floor surface at a second speed slower than the first speed.

23. The patient transport apparatus of claim 1, wherein the controller is further configured to operate the drive system in an override mode to facilitate movement of the support structure along the floor surface in response to engagement with one or more of the first user interface and the second user interface.

24. The patient transport apparatus of claim 1 , wherein at least one of the first user interface and the second user interface includes an engagement sensor configured to sense a force applied to at least one of the first user interface and the second user interface by a user; andwherein the controller is configured to determine that the user is in engagement with the at least one of the first user interface and the second user interface based on the sensed force.

25. The patient transport apparatus of claim 24, wherein the controller is further configured to:operate the drive system in the run mode in response to the engagement sensor sensing a force exceeding a predetermined force engagement threshold, andtransition the drive system to the stop mode in response to the sensed force falling below the predetermined force engagement threshold.

26. The patient transport apparatus of claim 1, comprising at least one wheel operatively attached to the base and arranged for selective movement along the floor surface; and wherein the drive system includes a brake assembly coupled to the at least one wheel and configured for selective operation between:a braked state to at least partially inhibit rotation of the at least one wheel so as to at least partially inhibit movement of the patient transport apparatus along the floor surface, andan unbraked state to permit rotation of the at least one wheel so as to permit movement of the patient transport apparatus along the floor surface.

27. The patient transport apparatus of claim 26, wherein the brake assembly includes an actuator disposed in electronic communication with the controller for changing operation of the brake assembly between the braked state and the unbraked state.Docket No. 060252.0120728. The patient transport apparatus of claim 27, wherein the controller is configured to drive the actuator to operate the brake assembly in the braked state in response to determining that the support structure is stationary.

29. The patient transport apparatus of claim 28, wherein the controller is configured to drive the actuator to operate the brake assembly in the unbraked state in response to detecting user engagement with at least one of the first user interface and the second user interface.

30. The patient transport apparatus of claim 29, comprising an engagement sensor configured to sense a force applied by a user; andwherein the controller is configured to:determine that the user is in engagement with the patient transport apparatus based on the sensed force,operate the drive system in the run mode in response to the engagement sensor sensing a force exceeding a predetermined force engagement threshold, and transition the drive system to the stop mode in response to the sensed force falling below the predetermined force engagement threshold.

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