UPDATE: Police have found the car stolen by an escaped prisoner in Perth's northern suburbs.
Prisoner Bradley John McIntosh-Narrier stole the black 2002 Toyota Rav 4 from Joondalup Health Campus yesterday.
The car was recovered about 7.30am today on Campion Avenue, near Shakespeare Avenue in Balcatta, police said this afternoon.
It has been towed for forensic testing.
An immediate order for more restraints to be used on prisoners under escort was issued last night, just hours after McIntosh-Narrier escaped from the public hospital.
Police are still hunting McIntosh-Narrier, who fled from two Serco prison transport guards at Joondalup Health Campus and got away in the car he hijacked from two women.
McIntosh-Narrier was believed to have been wearing leg shackles when he escaped from Joondalup Health Campus' emergency department at 1.50pm yesterday.
The 27-year-old had been remanded in custody yesterday morning at Joondalup Magistrate's Court on charges of burglary, aggravated burglary, stealing and giving false personal details to police.
An ambulance took him to the nearest ED after being called to the courthouse at 12.18pm because he had hurt his hand.
After paramedics had dropped McIntosh-Narrier and the guards at the hospital, he asked to go to the bathroom.
While he was in a toilet cubicle, he is believed to have ripped a handrail off the wall.
A Serco spokesman said last night he threatened the guards and vandalised the bathroom, prompting the guards to shut him in there to protect themselves and others.
While he was shut in, McIntosh-Narrier escaped through the roof.
He stopped two women in a Toyota Rav 4 in the hospital carpark and stole the vehicle.
The women, who were at the hospital to visit a seriously ill relative, were said to be uninjured but shaken by the ordeal.
Police said McIntosh-Narrier was considered unpredictable and should not be approached.
Serco Asia-Pacific chief executive Mark Irwin said his staff had followed correct procedure in escorting and restraining McIntosh-Narrier.
But he said he and Corrective Services Commissioner James McMahon had immediately declared that officers had to use more restraints so a prisoner being escorted is secured to an officer or a secure fixed point when privacy is required.
Mr Irwin said an urgent revision of procedures was under way and Serco had recommended a different restraint, not used in WA, now be used in prisoner escorts.
The escape comes two weeks after Cameron John Graham, a convicted rapist, and Kelden Edward Fraser, an alleged armed robber, kicked out a prison van door at Geraldton airport.
Yesterday's escape puts more pressure on Serco, the private firm which holds the $50 million-a-year contract to run WA's court security and custodial services, as calls mount for an inquiry into its handling of the contract.