STABILIZER FOR MEDICAL TROLLEYS

Abstract

The invention relates to a stabilization device for medical trolleys and a mobile robotic dental or medical treatment station. One of the objectives of this invention is to provide a stabilization device (100) for a medical trolley (200). To this end, the inventors propose an easily operated mechanical structure that can be either removable or permanently fixed to the floor of the medical trolley (200). In practice, the stabilization device according to the invention comprises stabilizing feet for the floor (110), a control mechanism (120), and a control transmission mechanism (130). Figure to be published with the abstract: Figure 2

Description

Description Title of the invention: STABILIZER FOR TROLLEYS MEDICAL Technical field

[0001] The invention relates to the field of medical trolley systems. In particular, It concerns a stabilization device for medical trolleys as well as a station mobile robotic dental or medical treatment vehicle. Prior art

[0002] In everyday life, dental and medical problems are unfortunately currents.

[0003] — Furthermore, if patients cannot receive appropriate treatments in the time, these dental and medical problems can be extremely serious and painful, thus affecting their quality of life and health.

[0004] — In order to treat patients more quickly, there is increasing consideration of using robots to assist practitioners in carrying out dental procedures or medical.

[0005] Indeed, thanks to their controllable movements, robots can not only improve the efficiency of dental or medical procedures, but also the efficiency of processing by avoiding or limiting human errors.

[0006] — Some of these robots are intended to be mounted on medical trolleys of known type and which are suitable for moving on the ground.

[0007] — However, the ground on which a medical trolley can circulate does not necessarily present a flat surface, so that when the robot is in operation there is a risk as to the level of precision of the robot's movements, which implies a risk high for patient safety.

[0008] — Thus, there is a need for a stabilization device for medical carts. Summary of the invention

[0009] The invention aims to resolve, at least partially, this need.

[0010] A first aspect of the invention relates to a stabilization device for a trolley medical including a load-bearing floor frame.

[0011] The stabilization device comprises, - ground stabilizing feet that are configured to support the chassis of load-bearing floor and which are convertible between a deployed configuration in in which the ground stabilizing feet are supported on the ground, in a stable manner, so as to support, together, all or part of what the load-bearing floor frame supports, and a folded configuration in which the ground stabilizing feet are detached from the ground so as to ensure at least partial retraction, - a control mechanism which is movable between a first position and a second position, in response to at least one translational movement or one rotational movement, and - a control transmission mechanism which comprises, - a connecting set, and - at least one control transmission element which has a first control transmission element portion kinematically connected, directly or indirectly, to the control mechanism, and a second control transmission element portion kinematically connected, in an articulated manner, to the ground stabilizing feet via the connecting assembly, the control transmission element being rotatably mounted about a first axis of rotation so as to be driven in rotation in a first direction of rotation and in a second direction of rotation opposite to the first direction of rotation. Further, the control transmission mechanism is configured such that actuation of the control mechanism in the first configuration or in the second configuration rotates the control transmission element about the first axis of rotation, and allows alternation of the ground stabilizing legs between the deployed configuration and the stowed configuration. In a first embodiment, the control transmission element is in the form of at least one plate. In a second embodiment, the connecting assembly comprises, - at least one first articulation, with at least one degree of freedom, which is connected to the second portion of control transmission element and to at least one first ground stabilization foot, - at least one second joint, with at least one degree of freedom, which is connected to at least one second ground stabilizing foot, and - a connecting structure which is connected between the first joint and the second joint. In a first implementation of the second embodiment, the first articulation comprises, - a first rod which has a second axis of rotation which is substantially parallel to the first axis of rotation of the control transmission element, the first rod being coupled to the second portion of the control transmission element, - a first pivoting head having a main section that is rotatably mounted on the first rod and an arm section that extends from the main section, the first pivoting head being connected to the first stabilizing foot at ground, and - a first ball joint which is mounted in rotation on the first rod and which is connected, immobilized in rotation, to the connecting structure. In a second implementation of the second embodiment, the second articulation comprises, - a second rod which has a third axis of rotation which is substantially parallel to the first axis of rotation of the control transmission element, the second rod being coupled to the supporting floor frame, - a second pivoting head having a main section that is rotatably mounted on the second rod and an arm section that extends from the main section, the second pivoting head being connected to the second ground stabilizing foot, and - a second ball joint which is mounted in rotation on the second rod and which is connected, immobilized in rotation, to the connecting structure. In a first example of the first and second implementations of the second embodiment, the first ball joint and the second ball joint are inclined upwardly from the connecting structure to, respectively, the first rod and the second rod. In a second example of the first and second implementation of the second embodiment, the connecting structure comprises, - at least one first end arm which is connected to the first ball joint, - at least one second end arm which is connected to the second ball joint, and - a central body which is connected between the first ball joint and the second ball joint. In a third embodiment, all or part of the control transmission mechanism is configured to be removably mounted or permanently fixed to the supporting floor frame. In a fourth embodiment, all or part of the control transmission mechanism is configured to be removably mounted or to be permanently fixed under the load-bearing floor frame. In a fifth embodiment, the ground stabilizing feet are arranged in a triangle between a front portion and a rear portion of the supporting floor frame. In a sixth embodiment, - all or part of the ground stabilizing feet have an L shape inclined relative to a longitudinal axis of the supporting floor frame, each with a long branch and a short branch, and - the supporting floor frame has cutouts, each one arranged for receive the short leg of at least one ground stabilizing foot, when the ground stabilizing foot is in the folded configuration. The invention also relates to a robotic mobile dental or medical treatment station which comprises, - at least one robotic arm which is configured to move at least one dental or medical instrument, - a medical trolley which comprises a supporting floor frame, the supporting floor frame, - having a longitudinal axis, - having a front part relative to a direction of movement of the medical trolley and a rear part opposite the front part, and - being equipped with ground connections designed to enable it to move on the ground, and - a stabilization device according to the invention. In a first embodiment, all or part of the control transmission mechanism of the stabilization device is configured to be removably mounted or to be permanently fixed under the load-bearing floor frame. In a second embodiment, all or part of the control transmission mechanism of the stabilization device is configured to be removably mounted or to be permanently fixed on the supporting floor frame. Brief description of the drawings Other characteristics and advantages of the invention will be better understood upon reading the description which follows and with reference to the appended drawings, given for illustrative purposes and in no way limiting. [Fig.1] [Fig.1] represents a first perspective view, from the side, of an embodiment of a medical trolley equipped with a stabilization device according to the invention, in the folded configuration of the stabilization feet on the ground. [Fig.2] [Fig.2] represents an embodiment of a stabilization device according to the invention, in the deployed configuration of the stabilization feet on the ground. [Fig.3] [Fig.3] represents a second perspective view, from below, of the medical trolley of [Fig.1]. [Fig.4] [Fig.4] represents an embodiment of a stabilization device according to the invention, in the folded configuration of the stabilization feet on the ground. [Fig.5] [Fig.5] represents a third perspective view, from the side, of an embodiment of a medical trolley equipped with a stabilization device according to the invention, in the deployed configuration of the stabilization feet on the ground. [Fig.6] [Fig.6] represents a fourth perspective view, from the side, of an embodiment of a medical trolley equipped with a stabilization device according to the invention, in the folded configuration of the ground stabilizing feet. [Fig.7] [Fig.7] represents an embodiment of a ground stabilizing foot. [Fig.8] [Fig.8] represents a perspective view, from below, of a variant of the medical trolley of [Fig.1] with a particular arrangement of the ground stabilizing feet of [Fig.7], in the deployed configuration. [Fig.9] [Fig.9] shows another perspective view, from below, of the variant of the medical trolley of [Fig.8] with a particular arrangement of the ground stabilizing feet of [Fig.7], in the folded configuration. [Fig.10] [Fig.10] represents an exploded view of a first articulation of the stabilization device according to the invention. [Fig.11] [Fig.11] represents an exploded view of a second articulation of the stabilization device according to the invention. The figures do not necessarily respect the scales, particularly in thickness, and this is for illustration purposes. Description of the embodiments One of the objectives of this invention is to provide a stabilization device for medical carts. To this end, the inventors propose a mechanical structure that is easy to operate and can be mounted removable or permanently fixed to the floor of the medical trolley. Thus, the invention relates to a stabilization device for a medical trolley. A "cart" means a vehicle or trailer that a user, generally located behind or beside the cart, propels in a direction of travel, and which allows materials or goods to be transported over short distances. Thus, a "medical" cart (also called a "care trolley" or "care cart") is a cart intended to receive, among other things, the instruments necessary for a care act or a dental or medical intervention. In practice, in the invention, as illustrated in [Fig. 1], the medical cart 200 comprises a supporting floor frame 210. The term "frame" in the expression "supporting floor frame" corresponds to a fixed or steerable assembly, which is generally formed from a given material (e.g., metal and / or wood), and which is intended to support the medical cart 200 and what the medical cart 200 transports. Furthermore, the term "floor" in the expression "supporting floor frame" corresponds to a substantially horizontal platform or wall which delimits the lower part of the medical cart 200. Finally, the term "carrier" in the expression "load-bearing floor frame" corresponds to the fact that the floor can support all or part of the load of the medical trolley 200. Conventionally, as illustrated in [Fig.1], [Fig.8] and [Fig.9], the supporting floor frame 210 extends from upstream to downstream in the direction of arrow F, along a longitudinal axis, between a rear portion, and a front portion, which is opposite the rear portion. In addition, the load-bearing floor frame 210 is provided with ground links 300 which are designed to allow it to move on the ground. In a first example, as illustrated in [Fig.1], [Fig.3], [Fig.5], [Fig.6], [Fig.8] and [Fig.9], the ground connections 300 are wheels. In a second example, the ground connections 300 are tracks. However, it will be possible to consider using other types of ground connections 300, without requiring substantial modifications to the invention. In the invention, as illustrated in [Fig.2] and [Fig.3], the stabilization device 100 comprises ground stabilizing feet 110, a control mechanism 120 and a control transmission mechanism 130. The term "foot" in the expression "ground stabilizing feet" corresponds to a part formed from a given material (e.g. metal and / or wood) and which serves to support the medical cart 200 relative to the ground. In the invention, the ground stabilizing feet 110 are configured to support the load-bearing floor frame 210. In a first particular implementation of the ground stabilizing feet 110, as illustrated in [Fig. 3], these are arranged in a triangle between a front part and a rear part of the supporting floor frame 210. In a first example of the first particular implementation of the ground stabilizing feet 110, at least one front ground stabilizing foot 110 is provided at the front portion of the supporting floor frame 210 and at least two rear ground stabilizing feet 110 are provided at the rear portion of the supporting floor frame 210. In other words, the first example of the first particular implementation of the ground stabilizing legs 110 covers the arrangement of one, two or more front ground stabilizing legs 110 at the front portion of the supporting floor frame 210, and two or more rear ground stabilizing legs 110 at the rear portion of the supporting floor frame 210. In an embodiment of the first example of the first particular implementation of the ground stabilization feet 110, there are at least two front ground connections 300, on either side of the front stabilization foot, and at least one rear ground connection 300 between the rear ground stabilization feet 110. In a second example of the first particular implementation of the ground stabilizing feet 110, as illustrated in [Fig. 3], at least two front ground stabilizing feet 110 are provided at the front portion of the supporting floor frame 210 and at least one rear ground stabilizing foot 110 is provided at the rear portion of the supporting floor frame 210. In other words, the second example of the first particular implementation of the ground stabilizing legs 110 covers the arrangement of two or more front ground stabilizing legs 110 at the front portion of the supporting floor frame 210, and one, two or more rear ground stabilizing legs 110 at the rear portion of the supporting floor frame 210. In an embodiment of the second example of the first particular implementation of the ground stabilization feet 110, there is at least one front ground connection 300 between the front stabilization feet and at least two rear ground connections 300, on either side of the rear ground stabilization foot 110. However, other arrangements of stabilizing feet may be envisaged in combination with different arrangements of ground connections 300, without requiring substantial modifications of the invention. In a second particular implementation of the ground stabilizing feet 110, these are arranged symmetrically around a longitudinal median axis of the supporting floor frame 210. In a third particular implementation of the ground stabilizing feet 110, these are arranged symmetrically around an axis which is perpendicular to the longitudinal centerline of the supporting floor frame 210. In a fourth particular implementation of the ground stabilizing feet 110, at least two ground stabilizing feet 110 are formed in one piece. In other words, the fourth particular implementation of the ground stabilizing feet 110 covers the fact that two or more ground stabilizing feet 110 are formed in one piece. In the invention, the ground stabilizing legs 110 are convertible between a deployed configuration and a folded configuration. In the deployed configuration, as illustrated in [Fig.2] and [Fig.5], the ground stabilizing feet 110 rest on the ground in a stable manner so as to support, together, all or part of what the supporting floor frame 210 supports. In a particular implementation of the deployed configuration, the ground stabilizing feet 110 lift the load-bearing floor frame 210 relative to the ground so that the ground connections 300 are not in contact with the ground and so as to relieve the ground connections 300. In one example of this particular implementation of the deployed configuration, the ground stabilizing legs 110 raise the load-bearing floor frame 210 in a range of between 1 mm and 20 mm relative to the ground, preferably between 2 mm and 5 mm relative to the ground. However, it may be envisaged that in the deployed configuration, the ground connections 300 touch the ground, without requiring substantial modifications to the invention. In the folded configuration, as illustrated in [Fig.1], [Fig.3], [Fig.4] and [Fig.6], the ground stabilizing feet 110 are lifted off the ground so as to ensure at least partial retraction. “Retracting” means making the stabilizing feet disappear, fold up or store them on the ground 110. In a particular implementation of the ground stabilizing feet 110, as illustrated in [Fig.7], all or part of these have an L shape inclined relative to the longitudinal axis of the supporting floor frame 210. Typically, each inclined L-shaped ground stabilizing foot 110 has a long branch 111 and a short branch 112. Furthermore, in an example as illustrated in [Fig.7], each inclined L-shaped ground stabilizing foot 110 comprises a pad 113. Further, as illustrated in [Fig.8] and [Fig.9], the supporting floor frame 210 has cutouts 211. In practice, each cutout 211 is arranged to receive the short branch 112 of at least one ground stabilizing foot 110, when the ground stabilizing foot 110 is in the folded configuration. In the invention, the control mechanism 120 is movable between a first position and a second position, in response to at least one translational movement or a rotational movement. In other words, the control mechanism 120 is movable between a first position and a second position, in response to either a translational movement, a rotational movement, or a combination of one or more translational movements and one or more rotational movements. In a first example of an implementation of the control mechanism 120, the latter is put into translation by the actuation of a steering member such as a translational slider. However, it may be possible to consider using other translation actuation mechanisms for the control mechanism 120, whether manually or automatically actuation, without requiring substantial modifications to the invention. In a second example of an implementation of the control mechanism 120, this is rotated by the actuation of a steering member selected from a rotating steering wheel, a pivoting lever, a pivoting handlebar, a pivoting pedal, a crank, and a rudder. However, it may be possible to consider using other mechanisms for actuating rotation of the control mechanism 120, without requiring substantial modifications to the invention. Still in the invention, as illustrated in [Fig.1], [Fig.2], [Fig.3], [Fig.4], [Fig.5] and [Fig.6], the control transmission mechanism 130 comprises a link assembly 132 and at least one control transmission element 131. In other words, the control transmission mechanism 130 comprises a link assembly 132 and one, two or more control transmission elements 131. In a particular implementation of the control transmission element 131, as illustrated in [Fig.2], [Fig.3], [Fig.4], [Fig.5] and [Fig.6], it has a first portion 1311 of control transmission element 131 and a second portion 1312 of control transmission element 131. In practice, the first portion 1311 of control transmission element 131 is kinematically connected, directly or indirectly, to the control mechanism 120. By "kinematically" is meant a mode of mechanical connection which allows the description of a kinematic movement, that is to say an angle of rotation, an amplitude of rotation, a displacement vector, an amplitude of translation, a speed or an acceleration. Then, the second portion 1312 of control transmission element 131 is kinematically connected, in an articulated manner, to the ground stabilizing feet 110 via the connecting assembly 132. Furthermore, the control transmission element 131 is rotatably mounted about a first axis of rotation 140 so as to be driven in rotation about the first axis of rotation 140, in a first direction of rotation and in a second direction of rotation opposite to the first direction of rotation. In one embodiment of the control transmission element 131, it is in the form of at least one plate. The term "plate" means a piece of rigid material, generally flat, whose thickness is low compared to the other two dimensions, whether the cross-section is rectilinear or not, for example crenellated or sinusoidal such as a corrugated sheet. In one example, as illustrated in [Fig.2], [Fig.3], [Fig.4], [Fig.5] and [Fig.6], the control transmission element 131 has a triangular shape. In this example, the first portion 1311 of control transmission element 131, the second portion 1312 of control transmission element 131 and the first rotation axis 140 are respectively arranged at a vertex of the control transmission element 131 in a triangular shape. However, other geometric shapes (e.g., circular, semicircular, square, rectangular, frustoconical, conical, polygonal, hexagonal, trapezoidal, elliptical, semielliptical, convex, cross-shaped and star-shaped) may be considered for use without requiring substantial modifications of the invention. In the invention, the control transmission mechanism 130 is configured such that actuation of the control mechanism 120 in the first configuration or in the second configuration causes the control transmission element 131 to rotate around the first axis of rotation 140, and allows the ground stabilizing feet 110 to alternate between the deployed configuration and the folded configuration. “Alternation” means a succession of the state of the stabilizing feet on the ground 110, in a regular order, in time or space. [Fig.2] and [Fig.5] illustrate the deployed configuration of the ground stabilizing feet 110. In this deployed configuration of the ground stabilizing feet 110, the control mechanism 120 has been actuated in the first position so that the control transmission element 131 is driven in the first direction of rotation around the first axis of rotation 140. In practice, in the example of [Fig.2] and [Fig.5], the first portion 1311 of control transmission element 131 is in a high position relative to the ground while the second portion 1312 of control transmission element 131 is in a low position relative to the ground, so that the ground stabilizing feet 110 are supported on the ground, in a stable manner. However, it may be envisaged that in the deployed configuration of the ground stabilization feet 110, the first portion 1311 of the control transmission element 131 is in a low position relative to the ground while the second portion 1312 of the control transmission element 131 is in a high position relative to the ground, without requiring substantial modifications of the invention, so that the ground stabilization feet 110 are supported on the ground, in a stable manner. [Fig.4] and [Fig.6] illustrate the folded configuration of the ground stabilizing legs 110. In this folded configuration of the ground stabilizing feet 110, the control mechanism 120 has been actuated into the second position so that the control transmission element 131 is driven in the second direction of rotation around of the first axis of rotation 140. In practice, in the example of [Fig.4] and [Fig.6], the first portion 1311 of control transmission element 131 is in a low position relative to the ground while the second portion 1312 of control transmission element 131 is in a high position relative to the ground, so that the ground stabilizing feet 110 are lifted off the ground. However, it may be envisaged that in the folded configuration of the ground stabilization feet 110, the first portion 1311 of the control transmission element 131 is in a high position relative to the ground while the second portion 1312 of the control transmission element 131 is in a low position relative to the ground, without requiring substantial modifications of the invention, so that the ground stabilization feet 110 are detached from the ground. Still in the invention, in a particular implementation of the connecting assembly 132, as illustrated in [Fig.1], [Fig.2], [Fig.3], [Fig.4], [Fig.5] and [Fig.6], it comprises at least two articulations, namely at least one first articulation 1321, with at least one single degree of freedom, and at least one second articulation 1322, with at least one single degree of freedom, and a connecting structure 1323. In other words, in this particular implementation of the connecting assembly 132, the latter comprises a connecting structure 1323, one, two or more first articulations 1321, with one, two, or more than two degrees of freedom, and one, two, or more than two second articulations 1322, with one, two, or more than two degrees of freedom. The term "articulation" means a connecting element for mechanical parts which allows one or more independent relative movements of the mechanical parts in relation to each other. The term “degree of freedom” means that the first joint 1321 and the second joint 1322 allow one, two or more than two independent relative movements of the mechanical parts that they connect. In a first example, the first articulation 1321 and / or the second articulation 1322 are sliding connections. In a second example, the first articulation 1321 and / or the second articulation 1322 are helical sliding connections. In a third example, the first joint 1321 and / or the second joint 1322 are pivot connections. In a fourth example, the first joint 1321 and / or the second joint 1322 are sliding pivot connections. In a fifth example, the first articulation 1321 and / or the second articulation 1322 are ball joints. In a sixth example, the first joint 1321 and / or the second joint 1322 are ball and socket joints. In the particular implementation of the connecting assembly 132, the first articulation 1321 is connected to the second portion 1312 of the control transmission element 131 and to at least one first ground stabilizing foot 110. In other words, in this particular implementation of the connecting assembly 132, the first articulation 1321 is connected to the second portion 1312 of the control transmission element 131 and to one, two or more first ground stabilization feet 110. In a first embodiment of the particular implementation of the connecting assembly 132, as illustrated in [Fig. 10], the first joint 1321, comprises a first rod 13211, a first pivoting head 13212 and a first ball joint 13213 mounted around a ball joint 13214. The term "rod" means a part, of constant or variable section, which has an elongation in one direction and which can be inscribed in a cylinder or prism of a desired length and a desired diameter, A rod end (also known as a rod end bearing) is a mechanical component consisting of a rod end and a ball joint that provides a connection between two or more fixed or moving parts. A rod end is typically used to provide rotational and oscillating motion without any play. A rod end is also used to transmit the pull and thrust of links and lever arms. Rod ends are typically used on the ends of hydraulic or pneumatic pistons or at the base of hydraulic cylinders. In the first embodiment of the particular implementation of the connecting assembly 132, as illustrated in [Fig. 10], the first rod 13211 has a second axis of rotation 150 which is substantially parallel to the first axis of rotation 140 of the control transmission element 131. Furthermore, the first rod 13211 is coupled to the second portion 1312 of control transmission element 131. Still in the first embodiment of the particular implementation of the connecting assembly 132, the first pivoting head 13212 is Y-shaped and has a main section 132121 which is rotatably mounted on the first rod 13211, as well as a first arm section 132122 which extends from the main section 132121. Further, the first swivel head 13212 is connected to the first ground stabilizing foot 110 via the first arm section 132122. In one example, the first arm section 132122 of the first pivoting head 13212 is pivotally connected to the first ground stabilizing foot 110. However, it will be possible to consider using other connections, without requiring substantial modifications to the invention. Finally, in the first embodiment of the particular implementation of the connecting assembly 132, the first ball joint 13213 is, on the one hand, mounted in rotation on the first rod 13211. On the other hand, the first ball joint 13213 is connected, immobilized in rotation, to the connecting structure 1323. In one aspect of the first embodiment of the particular implementation of the link assembly 132, the first ball joint 13213 is inclined upwardly from the link structure 1323 to the first rod 13211. In an example of the aspect of the first embodiment of the particular implementation of the link assembly 132, the first ball joint 13213 is inclined at a predetermined angle of inclination which is between 10° and 20°. However, depending on the needs, other values ​​may be considered, without requiring substantial modifications to the invention. Still in the particular implementation of the connecting assembly 132, the second articulation 1322 is connected to at least one second ground stabilizing foot 110. In other words, in this particular implementation of the connecting assembly 132, the second articulation 1322 is connected to one, two or more second ground stabilizing feet 110. In a second embodiment of the particular implementation of the connecting assembly 132, as illustrated in [Fig. 11], the second joint 1322 comprises a second rod 13221, a second pivoting head 13222 and a second ball joint 13223 mounted around a ball joint 13224. In the second embodiment of the particular implementation of the connecting assembly 132, the second rod 13221 has a third axis of rotation 160 which is substantially parallel to the first axis of rotation 140 of the control transmission element 131. Further, the second rod 13221 is coupled to the supporting floor frame 210. Still in the second embodiment of the particular implementation of the connecting assembly 132, the second pivoting head 13222 is Y-shaped and has a main section 132221 which is rotatably mounted on the second rod, as well as a second arm section 132222 which extends from the main section 132221. Further, the second pivoting head 13222 is connected to the second ground stabilizing foot 110 via the second arm section 132222. In one example, the second arm section 132222 of the second pivoting head 13222 is pivotally connected to the second ground stabilizing foot 110. However, it will be possible to consider using other connections, without requiring substantial modifications to the invention. Finally, in the second embodiment of the particular implementation of the connecting assembly 132, the second ball joint 13223 is, on the one hand, mounted in rotation on the second rod 13221. On the other hand, the second ball joint 13223 is connected, immobilized in rotation. to the connecting structure 1323. In one aspect of the second embodiment of the particular implementation of the link assembly 132, the second ball joint 13223 is inclined upwardly from the link structure 1323 to the second rod 13221. In an example of the aspect of the second embodiment of the particular implementation of the connecting assembly 132, the second ball joint 13223 is inclined at a predetermined angle of inclination which is between 10° and 20°. However, depending on the needs, other values ​​may be considered, without requiring substantial modifications of the invention. Finally, in the particular implementation of the connecting assembly 132, the connecting structure 1323 is connected between the first joint 1321 and the second joint 1322. In one embodiment of the particular implementation of the connecting assembly 132, the connecting structure 1323 comprises at least one first end arm 13231, at least one second end arm 13232 and a central body 13233. In other words, in this embodiment of the particular implementation of the connecting assembly 132, the connecting structure 1323 comprises a central body 13233, one, two or more first end arms 13231, and one, two or more second end arms 13232. In practice, the first end arm 13231 is connected to the first ball joint 13213, the second end arm 13232 is connected to the second ball joint 13223, and the central body 13233 is connected between the first ball joint 13213 and the second ball joint 13223. In one example of the central body 13233, as illustrated in [Fig. 2], [Fig. 3], [Fig. 4], [Fig. 5] and [Fig. 6], it has a triangular shape. However, other geometric shapes (e.g., square, rectangular, polygonal, hexagonal, trapezoidal, cross and star) may be considered, without requiring substantial modifications of the invention. The invention also relates to a robotic mobile dental or medical treatment station. In particular, the robotic mobile dental or medical treatment station comprises at least one robotic arm, a medical trolley 200 and a stabilization device. lization 100, according to the invention. In other words, the robotic mobile dental or medical treatment station comprises a medical trolley 200 and a stabilization device 100, according to the invention and one, two or more than two robotic arms. In practice, the robotic arm is configured to move at least one dental or medical instrument. In other words, the robotic arm is configured to move one, two or more dental or medical instruments. Finally, the medical trolley 200 comprises a supporting floor frame 210 which has a longitudinal axis F, and which has a front part relative to a direction of movement of the medical trolley 200 and a rear part opposite the front part, and being provided with ground connections 300 designed to move on the ground. With such a mobile robotic dental or medical treatment station, when the ground stabilizing legs 110 are in the deployed configuration, the mobile robotic dental or medical treatment station is stably immobilized such that the robotic arm is in a working disposition for moving the dental or medical instrument. Further, when the ground stabilizing legs 110 are in the folded configuration, the robotic mobile dental or medical treatment station is movable on the ground such that the robotic arm is in a resting disposition, without movement of the dental or medical instrument. In a first particular implementation of the robotic mobile dental or medical treatment station, all or part of the control transmission mechanism 130 is configured to be removably mounted or to be permanently fixed on the supporting floor frame 210. In a second particular implementation of the robotic mobile dental or medical treatment station, as illustrated in [Fig. 1], [Fig. 3], [Fig. 5] and [Fig. 6], all or part of the control transmission mechanism 130 is configured to be removably mounted or to be permanently fixed under the supporting floor frame 210. We have described and illustrated the invention. However, the invention is not limited to the embodiments that we have presented. Indeed, numerous combinations of variants, alternatives, embodiments and implementations can be envisaged without requiring substantial modifications of the invention. Thus, an expert in the field can deduce other variants, alternatives, embodiments and implementations, upon reading the description and the appended figures and depending on the economic, ergonomic and dimensional constraints to be respected. The invention may be the subject of numerous variants and applications other than those described above, In particular, unless otherwise indicated, the different structural and functional features of each particular implementation described above should not be considered as combined and / or closely and / or inextricably linked to each other, but, on the contrary, as mere juxtapositions. Furthermore, the structural and / or functional features of the different embodiments described above may be the subject in whole or in part of any different juxtaposition or any different combination.

Claims

Claims

1. Stabilization device (100) for a medical cart (200) comprising a supporting floor frame (210), the stabilizing device lization (100) comprising, - ground stabilizing feet (110) which are configured to support the load-bearing floor frame (210) and which are convertible between a deployed configuration in which the stabilizing feet on the ground (110) are supported on the ground, in a stable manner, so as to support, together, all or part of what the floor frame carrier (210) supports, and a folded configuration in which the ground stabilizing feet (110) are lifted off the ground so as to ensure at least partial concealment, - a control mechanism (120) which is movable between a first position and a second position, in response to at least one translational movement or rotational movement, and - a control transmission mechanism (130) which comprises, - a connecting assembly (132), and - at least one control transmission element (131) which has a first portion (1311) of control transmission element (131) kinematically connected, directly or indirectly, to the control mechanism, and a second portion (1312) of element of control transmission (131) kinematically connected, in such a way articulated, with ground stabilizing feet (110) via the assembly of connection (132), the control transmission element (131) being mounted rotating around a first axis of rotation (140) so as to be driven in rotation in a first direction of rotation and in a second direction of rotation opposite to the first direction of rotation, in which, the control transmission mechanism (130) is configured so that the actuation of the control mechanism (120) in the first configuration or in the second configuration rotates the control transmission element (131) around the first axis of rotation, and allows the alternation of stabilizing feet on the ground (110) between the deployed configuration and the folded configuration.

2. The stabilization device (100) of claim 1, wherein the control transmission element (131) is in the form of at least one plate.

3. A stabilizing device (100) according to any one of the claims- indications 1 to 2, wherein the connecting assembly (132) comprises, - at least one first articulation (1321), at least one degree from freedom, which is connected to the second portion (1312) of element of control transmission (131) and at least one first stabilizing foot ground level (110), - at least one second articulation (1322), at least one degree from freedom, which is connected to at least a second stabilizing foot on the ground {110),and - a connecting structure (1323) which is connected between the first arti- culation (1321) and the second articulation (1322).

4. A stabilization device (100) according to claim 3, wherein the first articulation (1321) includes, - a first rod (13211) which has a second axis of rotation (150) which is substantially parallel to the first axis of rotation (140) of the control transmission element (131), the first rod (13211) being coupled to the second portion (1312) of transmission element of order (131), - a first pivoting head (13212) which has a main section (132121) which is rotatably mounted on the first rod (13211) and a first arm section (132122) extending from the section main (132121), the first swivel head (13212) being connected to the first stabilization foot on the ground (110), and - a first ball joint (13213) which is mounted in rotation on the first rod (13211) and which is connected, immobilized in rotation, to the 1323 link structure.

5. A stabilizing device (100) according to any one of the claims- indications 3 to 4, wherein the second articulation (1322) comprises, - a second rod (13221) which has a third axis of rotation (160) which is substantially parallel to the first axis of rotation (140) of the control transmission element (131), the second rod (13221) being coupled to the supporting floor frame (210), - a second pivoting head (13222) which has a section main (132221) which is rotatably mounted on the second rod (13221) and a second arm section (132222) which extends from the main section (132221), the second swivel head (13222) being connected to the second ground stabilizing foot (110), and - a second ball joint (13223) which is rotatably mounted on the second rod and which is connected, immobilized in rotation, to the structure of connection (1323).

6. A stabilizing device (100) according to any one of the claims- indications 4 to 5, in which the first ball joint (13213) and the second ball joint (13223) are inclined upwards from the connecting structure (1323) up to, respectively, the first rod (13211) and the second rod (13221).

7. A stabilizing device (100) according to any one of the claims- indications 4 to 6, wherein the linking structure (1323) comprises, - at least one first end arm (13231) which is connected to the first ball joint (13213), - at least one second end arm (13232) which is connected to the second ball joint (13223), and - a central body (13233) which is connected between the first ball joint {13213) and the second ball joint (13223).

8. A stabilizing device (100) according to any one of the claims- indications 1 to 7, in which all or part of the transmission mechanism control (130) is configured to be removably mounted or to be fixed permanently on the supporting floor frame (210).

9. A stabilizing device (100) according to any one of the claims- indications 1 to 7, in which all or part of the transmission mechanism control (130) is configured to be removably mounted or to be fixed permanently under the load-bearing floor frame (210).

10. A stabilizing device (100) according to any one of the claims- indications 1 to 9, wherein the ground stabilizing feet (110) are arranged in a triangle between a front part and a rear part of the chassis load-bearing floor (210).

11. | Stabilization device (100) according to any one of the claims- indications 1 to 10, in which, - all or part of the ground stabilizing feet (110) have a L-shape inclined relative to a longitudinal axis of the chassis load-bearing floor (210), each with a long branch (111) and a short branch (112), and - the supporting floor frame (210) has cutouts (211), each being arranged to receive the short branch (112) of at least a ground stabilizing foot (110), when the ground stabilizing foot ground (110) is in the folded configuration.

12. Mobile robotic dental or medical treatment station including, - at least one robotic arm that is configured to move at least one dental or medical instrument, - a medical trolley (200) which comprises a supporting floor frame (210), the supporting floor frame (210), - having a longitudinal axis, F, - having a front part relative to a direction of movement of the medical trolley (200) and a rear part opposite the front part, And - being provided with ground connections (300) designed to enable it to move on the ground, and - a stabilization device (100) according to any one of the re- instructions 1 to 10.

13. Mobile robotic dental or medical treatment station according to claim 11, wherein all or part of the mechanism of control transmission (130) of the stabilization device (100) is configured to be removably mounted or to be permanently fixed under the load-bearing floor frame (210).

14. Mobile robotic dental or medical treatment station according to claim 11, wherein all or part of the mechanism of control transmission (130) of the stabilization device (100) is configured to be removably mounted or permanently fixed to the chassis load-bearing floor (210).