US 11,806,292 B2
Techniques for controlling actuators of a patient support apparatus
Anish Paul, Kalamazoo, MI (US); Krishna Bhimavarapu, Kalamazoo, MI (US); and Madhu Sandeep Thota, Portage, MI (US)
Assigned to Stryker Corporation, Kalamazoo, MI (US)
Filed by Stryker Corporation, Kalamazoo, MI (US)
Filed on Jun. 14, 2022, as Appl. No. 17/839,987.
Application 17/839,987 is a continuation of application No. 17/166,126, filed on Feb. 3, 2021, granted, now 11,389,353.
Application 17/166,126 is a continuation of application No. 16/186,857, filed on Nov. 12, 2018, granted, now 10,945,902, issued on Mar. 16, 2021.
Claims priority of provisional application 62/585,226, filed on Nov. 13, 2017.
Prior Publication US 2022/0304876 A1, Sep. 29, 2022
Int. Cl. A61G 7/018 (2006.01); A61G 7/015 (2006.01); A61G 7/08 (2006.01); A61G 7/05 (2006.01); A61G 7/012 (2006.01)
CPC A61G 7/018 (2013.01) [A61G 7/012 (2013.01); A61G 7/015 (2013.01); A61G 7/0507 (2013.01); A61G 7/0524 (2016.11); A61G 7/08 (2013.01); A61G 2203/16 (2013.01); A61G 2203/726 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A patient support apparatus comprising:
a support structure including a base and a plurality of components that are movable, the plurality of components including a support frame;
a plurality of actuators configured to actuate one or more of the components;
a user interface configured to receive a user input to move the support frame and to produce an input signal in response to receiving the user input;
a behavior controller coupled to the user interface and being configured to:
receive the input signal from the user interface,
generate a motion command signal based on the input signal, and
transmit the motion command signal; and
a motion controller separate from and coupled to the behavior controller and to the plurality of actuators and being configured to:
receive the motion command signal from the behavior controller,
receive feedback signals from one or more of the plurality of actuators, wherein the feedback signals are provided solely to the motion controller and are not provided to the behavior controller,
identify a motion constraint of the one or more actuatable components, wherein the motion constraint comprises a constraint to avoid interference with another component, and
control one or more of the plurality of actuators to actuate one or more of the actuatable components based on the motion constraint, the motion command signal, and the feedback signals to move the support frame relative to the base.