At one point in the chase, aerial video showed the man stop in a parking lot of a fast-food restaurant and open the door as officers approached.
He then drives off and barrels into police vehicles blocking the exit.
The ambulance, marked as belonging to the Philadelphia Fire Department, comes to a halt for around 10 seconds as officers again approach, before the driver rams his way back on the street.
Two marked police vehicles were struck, Kinebrew said.
No officers were believed to have been seriously injured in connection with that collision.
Police are also investigating whether the driver contributed to an accident involving civilians.
Injuries in that case weren't immediately clear. Kinebrew said a tow truck that local news outlets reported tried intervening during the pursuit may have also been struck.
He appeared to be clad in only a pair of shorts when he was taken into custody, video showed.
The man, who was taken to a hospital, is in his 40s, Kinebrew said, but police didn't release his name as he wasn't immediately charged with a crime.
- AP