Steering mechanism for a portable surgical robot

Abstract

To provide a portable surgical robot that includes a surgical device and a cart.SOLUTION: The surgical device is coupled to the cart. The cart includes a chassis, a frame member, a pair of wheels, and a steering mechanism. The chassis defines a longitudinal axis that extends in the length direction of the cart. The frame member is coupled to the chassis of the cart. The pair of wheels is pivotably coupled to the frame member. The steering mechanism is coupled to the pair of wheels. The steering mechanism is configured to facilitate selectively pivoting the pair of wheels to steer the cart in a plurality of steering modes. The steering modes include at least one of a fore-and-aft steering mode, a turn-on-axis steering mode, and a lateral steering mode.SELECTED DRAWING: Figure 14A

Description

[Technical Field]

[0001] Cross-reference to related patent applications This application claims the benefit of U.S. Provisional Patent Application No. 62 / 214,696, filed September 4, 2015, and U.S. Provisional Patent Application No. 62 / 214,718, filed September 4, 2015, both of which are incorporated herein by reference in their entireties. [Background technology]

[0002] background FIELD OF THE INVENTION The present invention relates generally to the field of carts that facilitate the transportation of robotic devices and the stability of the robotic devices during use.

[0003] Medical device carts are sometimes used to transport robotic devices from one location to another. Traditional medical device carts have four wheels—two fixed front wheels and a swivel rear caster—which may provide sufficient maneuverability for general transportation, but maneuverability within the operating room presents different challenges. Operating room space is limited, making it difficult to maneuver the cart around the operating room and guide it to the appropriate position. Pushing the cart from behind requires leverage to orient the front wheels, making directional control difficult. The cart must be backed up, pivoted, and then returned. This process must sometimes be repeated multiple times until the cart is positioned correctly. This sometimes requires handling the cart from the front end, which may be within the sterile field of the operating room, which is not ideal. Additionally, the cart may encounter various uneven surfaces (e.g., ramps, inclines, etc.) during transport, which may increase the load on the individual wheels of the cart and potentially result in a rocking or fluttering condition. Summary of the Invention

[0004] overview In one exemplary embodiment, the portable surgical robot includes a surgical device and a cart. The surgical device is coupled to the cart. The cart includes a chassis, a frame member, a pair of wheels, and a steering mechanism. The chassis defines a fore-aft axis extending along the length of the cart. The frame member is coupled to the cart chassis. The pair of wheels are pivotally coupled to the frame member. The steering mechanism is coupled to the pair of wheels. The steering mechanism is configured to facilitate selective pivoting of the pair of wheels to steer the cart in a plurality of steering modes. The plurality of steering modes includes at least one of a fore-aft steering mode, a rotational steering mode, and a lateral steering mode.

[0005] In another exemplary embodiment, a portable cart includes a chassis, a first wheel mechanism, and a second wheel mechanism. The first wheel mechanism is coupled to a front portion of the chassis. The second wheel mechanism is coupled to a rear portion of the chassis. The first wheel mechanism and the second wheel mechanism facilitate steering of the portable cart. The first wheel mechanism is configured to facilitate selectively reconfiguring the portable cart into a plurality of steering modes. The plurality of steering modes include at least one of a forward / backward steering mode, a rotational steering mode, and a lateral steering mode.

[0006] In yet another exemplary embodiment, a wheel steering assembly for a cart includes a frame member, a pair of wheels, and a steering mechanism. The frame member is configured to be coupled to a chassis of the cart. The pair of wheels are pivotally coupled to the frame member. The steering mechanism is coupled to the pair of wheels. The steering mechanism is configured to selectively pivot the pair of wheels to steer the cart in multiple steering modes. The steering mechanism includes at least one of a mechanical linkage system and a crank mechanism.

[0007] Other exemplary aspects relate to other features and combinations of features as may be generally set forth in the claims. [The present invention 1001] A portable surgical robot, a surgical device and a cart; The surgical device is coupled to the cart, and the cart a chassis defining a longitudinal axis extending longitudinally of said cart; a frame member connected to the chassis of the cart; a pair of wheels pivotally connected to the frame member; and a steering mechanism coupled to the pair of wheels, the steering mechanism configured to facilitate selective pivoting of the pair of wheels to steer the cart in a plurality of steering modes, including at least one of a longitudinal steering mode, a rotational steering mode, and a lateral steering mode. Including, Portable surgical robot. [The present invention 1002] A portable surgical robot of the present invention 1001, wherein the steering mechanism is configured to facilitate selectively pivoting the pair of wheels corresponding to the forward / backward steering mode such that the pair of wheels are parallel to the forward / backward axis to facilitate steering the cart in forward and reverse directions along the forward / backward axis. [The present invention 1003] A portable surgical robot of the present invention 1001, wherein the steering mechanism is configured to facilitate selectively pivoting the pair of wheels in accordance with the axial rotational steering mode in which the pair of wheels are angled relative to the front-to-rear axis to facilitate steering the cart in a rotational direction with a zero turning radius. [The present invention 1004] A portable surgical robot of the present invention 1001, wherein the steering mechanism is configured to facilitate selectively pivoting the pair of wheels in accordance with the lateral steering mode such that the pair of wheels are perpendicular to the fore-aft axis to facilitate steering the cart laterally. [The present invention 1005] A portable surgical robot of the present invention 1001, wherein the steering mechanism comprises a handle and at least one of a mechanical linkage system and a crank mechanism connected to the handle and pivoting the pair of wheels in response to manual operation of the handle. [The present invention 1006] A portable surgical robot according to the present invention 1005, wherein the amount of operation of the handle corresponds to the amount of rotation of the pair of wheels. [The present invention 1007] A portable surgical robot of the present invention 1001, wherein the steering mechanism comprises an electromechanical coupling system including an actuator positioned to operate the electromechanical coupling system to pivot the pair of wheels in response to receiving a command from the cart's computing system. [The present invention 1008] The portable surgical robot of the present invention 1001, wherein the steering mechanism includes an actuator positioned to independently pivot the pair of wheels in response to receiving commands from a computing system of the cart. [The present invention 1009] A portable cart, Chassis including front and rear; a first wheel mechanism coupled to the front portion of the chassis; and a second wheel mechanism coupled to the rear of the chassis; Equipped with the first wheel mechanism and the second wheel mechanism facilitate steering of the portable cart; and the first wheel mechanism is configured to facilitate selective reconfiguration of the portable cart into a plurality of steering modes including at least one of a longitudinal steering mode, a rotational steering mode, and a lateral steering mode; Portable cart. [The present invention 1010] The portable cart of the present invention 1009, wherein the second wheel mechanism includes a pair of casters that are freely pivotable about their central vertical axis. [The present invention 1011] The portable cart of the present invention 1009, wherein the first wheel mechanism includes a steering mechanism coupled to a pair of wheels, the steering mechanism configured to facilitate selective pivoting of the pair of wheels to steer the portable cart in a plurality of steering modes. [The present invention 1012] The portable cart of the present invention 1011, wherein the steering mechanism is configured to facilitate reconfiguring the portable cart to the forward / reverse steering mode in which the pair of wheels are parallel to the forward / reverse axis of the chassis to facilitate steering the portable cart in forward and reverse directions along the forward / reverse axis. [The present invention 1013] The portable cart of the present invention 1011, wherein the steering mechanism is configured to facilitate reconfiguring the portable cart to an axial rotational steering mode in which the pair of wheels are oriented at an angle relative to the front-to-rear axis of the chassis to facilitate steering the portable cart in a rotational direction about its central vertical axis. [The present invention 1014] The portable cart of the present invention 1011, wherein the steering mechanism is configured to facilitate reconfiguring the portable cart to the lateral steering mode in which the pair of wheels are oriented perpendicular to the front-to-rear axis of the chassis to facilitate steering the portable cart laterally. [The present invention 1015] A portable cart of the present invention 1011, wherein the steering mechanism includes at least one of a mechanical linkage system and a crank mechanism that pivots the pair of wheels in response to manual operation of the steering mechanism; and the manual operation is provided by operation of at least one of a handle of the steering mechanism and a hand grip used to steer the portable cart. [The present invention 1016] The portable cart of the present invention 1009 further comprises a locking mechanism including a brake connected to the rear of the chassis; the brake configured to engage the ground; and the engagement of the brake with the ground prevents the rear of the chassis from moving laterally and fore-and-aft. [The present invention 1017] The portable cart of the present invention 1016, wherein the first wheel mechanism is configured to prevent the front of the chassis from moving in at least one of a lateral direction and a fore-aft direction. [The present invention 1018] A portable cart of the present invention 1016, wherein the locking mechanism includes one or more legs connected to the front of the chassis; engagement of the locking mechanism is configured to lower the front of the chassis so that the one or more legs engage the ground; and engagement of the one or more legs with the ground prevents the front of the chassis from moving sideways and fore and aft. [The present invention 1019] A portable cart according to claim 1018, wherein the first wheel mechanism includes a swing arm pivotally connected to the chassis; and the swing arm is configured to facilitate lowering the front of the chassis in response to the locking mechanism being engaged. [The present invention 1020] 1. A wheel steering assembly for a cart, comprising: a frame member configured to be coupled to a chassis of the cart; a pair of wheels pivotally connected to the frame member; and a steering mechanism coupled to the pair of wheels, the steering mechanism configured to selectively pivot the pair of wheels to steer the cart in a plurality of steering modes, the steering mechanism including at least one of a mechanical linkage system and a crank mechanism. A wheel steering assembly comprising: [Brief explanation of the drawings]

[0008] The present disclosure will be better understood from the following detailed description when read in conjunction with the accompanying drawings, in which like numerals refer to like elements and in which:

[0009] [Figure 1] FIG. 1 is a front perspective view of a surgical cart according to one exemplary embodiment. [Figure 2]2 is a left rear perspective view of the surgical cart of FIG. 1; FIG. [Figure 3] 3 is a right rear perspective view of the surgical cart of FIG. 1. FIG. [Figure 4A] 4A-4D are various views of the pivoting carriage assembly of the surgical cart of FIGS. 1-3 according to one exemplary embodiment. [Figure 4B] 4A-4D are various views of the pivoting carriage assembly of the surgical cart of FIGS. 1-3 according to one exemplary embodiment. [Figure 4C] 4A-4D are various views of the pivoting carriage assembly of the surgical cart of FIGS. 1-3 according to one exemplary embodiment. [Figure 4D] 4A-4D are various views of the pivoting carriage assembly of the surgical cart of FIGS. 1-3 according to one exemplary embodiment. [Figure 5A] FIG. 5A is a perspective view of the chassis of the surgical cart of FIGS. 1-3 with the locking mechanism in a transport configuration, according to one exemplary embodiment. [Figure 5B] FIG. 5B is a perspective view of the chassis of the surgical cart of FIGS. 1-3 with the locking mechanism in a brake configuration, according to one exemplary embodiment. [Figure 5C] 5C-5F are various cross-sectional views of a locking mechanism being reconfigured between a carrying configuration and a braking configuration according to one exemplary embodiment. [Figure 5D] 5C-5F are various cross-sectional views of a locking mechanism being reconfigured between a carrying configuration and a braking configuration according to one exemplary embodiment. [Figure 5E] 5C-5F are various cross-sectional views of a locking mechanism being reconfigured between a carrying configuration and a braking configuration according to one exemplary embodiment. [Figure 5F] 5C-5F are various cross-sectional views of a locking mechanism being reconfigured between a carrying configuration and a braking configuration according to one exemplary embodiment. [Figure 5G] FIG. 5G is a top view of the surgical cart of FIGS. 1-3 with the locking mechanism in a brake configuration, according to one exemplary embodiment. [Figure 6] FIG. 6 is a perspective view of a steering assembly of the surgical cart of FIG. 1 according to one exemplary embodiment. [Figure 7A] 7A-7B are various views of the steering assembly of the surgical cart of FIG. 6 in a first configuration according to one exemplary embodiment. [Figure 7B] 7A-7B are various views of the steering assembly of the surgical cart of FIG. 6 in a first configuration according to one exemplary embodiment. [Figure 8A] 8A-8B are various views of the steering assembly of the surgical cart of FIG. 6 in a second configuration according to one exemplary embodiment. [Figure 8B] 8A-8B are various views of the steering assembly of the surgical cart of FIG. 6 in a second configuration according to one exemplary embodiment. [Figure 9A] 9A-9B are various views of the steering assembly of the surgical cart of FIG. 6 in a third configuration according to one exemplary embodiment. [Figure 9B] 9A-9B are various views of the steering assembly of the surgical cart of FIG. 6 in a third configuration according to one exemplary embodiment. [Figure 10] FIG. 10 is a rear perspective view of a surgical cart according to another exemplary embodiment. [Figure 11] FIG. 11 is a perspective view of the chassis of the surgical cart of FIG. 10 according to one exemplary embodiment. [Figure 12A] 12A-12C are various views of the pivoting carriage assembly of the surgical cart of FIG. 10 according to one exemplary embodiment. [Figure 12B] 12A-12C are various views of the pivoting carriage assembly of the surgical cart of FIG. 10 according to one exemplary embodiment. [Figure 12C] 12A-12C are various views of the pivoting carriage assembly of the surgical cart of FIG. 10 according to one exemplary embodiment. [Figure 13]13-14B are various perspective views of the steering assembly of the surgical cart of FIG. 10 according to one exemplary embodiment. [Figure 14A] 13-14B are various perspective views of the steering assembly of the surgical cart of FIG. 10 according to one exemplary embodiment. [Figure 14B] 13-14B are various perspective views of the steering assembly of the surgical cart of FIG. 10 according to one exemplary embodiment. [Figure 15] 15A-15B are various views of the steering assembly of the surgical cart of FIG. 10 in a first configuration according to one exemplary embodiment. [Figure 16] 16A-16B are various views of the steering assembly of the surgical cart of FIG. 10 in a second configuration according to one exemplary embodiment. [Figure 17] 17A-17B are various views of the steering assembly of the surgical cart of FIG. 10 in a third configuration according to one exemplary embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Detailed Description Before turning to the accompanying drawings, which illustrate in detail exemplary embodiments of the invention, it is to be understood that the present application is not limited to the details or methodology set forth in the description or illustrated in the drawings. It is also to be understood that the terminology used in the present application is for the purpose of description and should not be regarded as limiting.

[0011] The portable surgical carts described herein may be used in any situation for maneuvering and / or transferring a surgical device. The portable surgical carts of the present invention may also include various features to aid in the stability of the cart during transfer of the surgical device (e.g., up a ramp, uneven ground, over a door frame, etc.) and during use (e.g., during a patient procedure, during use of an articulating arm, etc.). In one embodiment, the portable surgical cart includes a steering assembly that facilitates movement of the cart in any of the following directions: forward, backward, swiveling, lateral, and rotational. In some embodiments, the portable surgical cart includes a pivoting carriage assembly configured to self-adjust on uneven surfaces to enhance the stability of the portable surgical cart when stationary and / or during transport. In some embodiments, the portable surgical cart includes a locking mechanism configured to provide support to the portable surgical cart when stationary to enable precise and stable use of the surgical device on the portable surgical cart.

[0012] In the exemplary embodiment shown in Figures 1-17B, a portable cart, shown as a surgical cart 10, includes a body 20; a chassis 100; a first wheel mechanism, shown as a steering wheel assembly 200, located at the front end 12 of the surgical cart 10; a second wheel mechanism, shown as a pivoting carriage assembly 300, located at the rear end 14 of the surgical cart 10; and a locking mechanism, shown as a floor lock 400, located at the rear end 14 of the surgical cart 10.

[0013] As shown in FIGS. 1-3 and 10 , the body 20 of the surgical cart 10 is coupled to the chassis 100. In an exemplary embodiment, the body 20 is removably coupled (e.g., fastened) to the chassis 100. In another embodiment, the body 20 is fixed to the chassis 100. For example, the body 20 and chassis 100 may be welded or glued together during construction of the surgical cart 10. In another embodiment, the body 20 and chassis 100 may be a single, integral structure. The wheel steering assembly 200 includes a pair of wheels, shown as front wheels 202, and the pivoting carriage assembly 300 includes a pair of caster wheels, shown as rear casters 302. The front wheels 202 and rear casters 302 facilitate mobility of the surgical cart 10. In an exemplary embodiment, the surgical cart 10 is configured to transport a surgical robotic device. In other aspects, the cart is configured to carry a camera, a computer, a monitor, and / or any other device or component that may be used during a surgical procedure or medical monitoring. In another aspect, the cart is configured to be used as a guidance cart.

[0014] As shown in FIGS. 1-3 and 10 , the body 20 of the surgical cart 10 may include a robotic device, shown as a surgical device 30, a computing system 40, and a handle assembly 50. In some embodiments, the surgical cart 10 does not include the surgical device 30. For example, the surgical cart 10 may be a guidance cart and / or another type of cart (e.g., a cart configured to carry a camera, a computer, a monitor, and / or any other device or component that may be used during a surgical procedure or medical monitoring). In one embodiment, the body 20 also includes various compartments (e.g., cabinets, drawers, etc.) configured to store various items (e.g., surgical tools, etc.) used during operation of the surgical cart 10. As shown in FIGS. 1-3 , the surgical device 30 is coupled (e.g., fastened, etc.) to a mounting location 22 defined by the body 20. The surgical device 30 may be of any suitable mechanical or electromechanical structure. In an exemplary embodiment, surgical device 30 is an articulating arm (e.g., having three or more degrees of freedom or axes of motion). Computing system 40 may include various hardware components and software for operating and controlling surgical device 30. Computing system 40 may be any known computing system, but is preferably a programmable, processor-based system. For example, computing system 40 may include a microprocessor, a hard drive, random access memory (RAM), read-only memory (ROM), input / output (I / O) circuitry, and any other known computer components. Computing system 40 may be adapted for use with various types of storage devices (both permanent and removable), including, for example, portable drives, magnetic storage devices (e.g., floppy disks), solid-state storage devices (e.g., flash memory cards), optical storage devices (e.g., compact discs), and / or network / internet storage devices.

[0015] The computing system 40 may be communicatively coupled to the surgical device 30 via any suitable wired or wireless communication protocol (i.e., physical interface). The physical interface may be any known interface, such as a wired interface (e.g., serial communication, USB, Ethernet, CAN bus, and / or other cabled communication interface) and / or a wireless interface (e.g., wireless Ethernet, wireless serial communication, infrared communication, and / or other wireless communication system). A software interface may enable the computing system 40 to communicate with and control the operation of the surgical device 30. In one embodiment, the software interface includes utilities that enable the computing system 40 to issue commands to the surgical device 30. For example, the computing system 40 may provide commands that cause the surgical device to enter a particular mode (e.g., autonomous mode, haptic mode, free mode, etc.). The computing system 40 may be adapted to enable the surgical device 30 to perform various functions related to surgical planning, navigation, image guidance, and / or haptic guidance. For example, computing system 40 may include algorithms, programs, and software utilities for general operation, data storage and retrieval, computer-assisted surgery (CAS), applications, haptic control, and / or any other suitable functionality.

[0016] In one embodiment, surgical device 30 is configured as an autonomous surgical robotic system controlled by computing system 40 to move surgical tools to perform procedures on a patient (e.g., performing an orthopedic joint replacement, autonomously performing a bone cut with a high-speed obturator, etc.). In other embodiments, surgical device 30 is a haptic device configured to be manipulated by a user to move surgical tools to perform procedures on a patient. For example, during a procedure, computing system 40 may implement control parameters for controlling surgical device 30 based on a relationship between the patient's anatomy and the position, orientation, velocity, and / or acceleration of portions of surgical device 30 (e.g., surgical tools, etc.). In one embodiment, surgical device 30 is controlled to impose limitations on user manipulation of the device (e.g., limiting the user's ability to physically manipulate surgical device 30). In another embodiment, surgical device 30 is controlled to provide haptic guidance (i.e., haptic and / or kinesthetic feedback) to the user. "Haptics" refers to the sense of touch, and the field of haptics involves research into human interactive devices that provide operators with haptic and / or force feedback. Haptic feedback generally involves tactile sensations, such as vibration, while force feedback refers to feedback in the form of force (e.g., resistance to movement) and / or torque (also known as "wrench"). Wrench can include feedback in the form of force, torque, or a combination of force and torque.

[0017] For example, in orthopedic applications, the surgical device 30 may address the problems of inaccuracy, unpredictability, and non-reproducibility in bone preparation by assisting the surgeon in properly shaping the bone to enable precise and repeatable bone resections while maintaining close involvement of the surgeon in the bone preparation process. Furthermore, the surgical device 30 may haptically guide the surgeon through the osteotomy or perform the procedure autonomously, thereby making the surgeon's skill level less critical. As a result, precise and repeatable procedures can be performed by surgeons with varying degrees of skill and experience.

[0018] As shown in FIGS. 1-3 , the surgical cart 10 includes a display device 42 and an input device 44 disposed on the body 20 at the rear end 14 of the surgical cart 10. In alternative embodiments, the display device 42 and / or the input device 44 are positioned on the surgical cart 10 in other manners or are remote from the surgical cart 10 (e.g., mounted on a wall in the operating room or other location suitable for user viewing). The display device 42 is configured as a visual interface between the computing system 40 and the user. The display device 42 may be communicatively coupled to the computing system 40 and may be any device suitable for displaying text, images, graphics, and / or other visual output. For example, the display device 42 may include a standard display screen (e.g., LED, LCD, CRT, plasma, etc.), a touchscreen, a wearable display (e.g., eyewear such as glasses or goggles), a projection display, a head-mounted display, a holographic display, and / or any other visual output device. The display device 42 may be used to display any information useful in a medical procedure, such as images of anatomical structures generated from image datasets acquired using conventional imaging techniques, graphical models (e.g., CAD models of implants, instruments, anatomical structures, etc.), graphical representations of tracked objects (e.g., anatomical structures, tools, implants, etc.), digital or video images, registration information, calibration information, patient data, user data, measurement data, software menus, selection buttons, and / or status information. The input device 44 may enable a user of the surgical cart 10 to communicate with the surgical device 30 and / or other components of the surgical cart 10 (e.g., the wheel steering assembly 200, the floor locks 400, etc.). The input device 44 may be communicatively coupled to the computing system 40 and may include any device configured to enable a user to provide input to the surgical cart 10.For example, the input device 44 may be, without limitation, a keyboard, mouse, trackball, touchscreen, touchpad, voice recognition hardware, dials, switches, buttons, trackable probes, foot pedals, remote control devices, scanners, cameras, microphones, and / or joysticks, etc. In some embodiments, the surgical cart 10 supplements or replaces direct visualization of the surgical site, enhances the surgeon's natural sense of touch and physical dexterity, and facilitates the targeting, repair, and replacement of various structures within the body.

[0019] 1-3 and 10 , the handle assembly 50 can enhance the portability and maneuverability of the surgical cart 10. As shown in FIGS. 1-3 and 10 , the handle assembly 50 is positioned at the rear end 14 of the surgical cart 10 and, in the illustrated embodiment, includes a pair of handles, shown as handgrips 52, and a handrail 54. The handgrips 52 and / or handrails 54 can facilitate steering the surgical cart 10 in at least one of a forward direction, a backward direction, a lateral direction (i.e., a sideways direction), and a rotational direction. In another embodiment, the surgical cart 10 includes additional handles and / or handrails positioned around the body 20. In one embodiment, the handle assembly 50 includes a single continuous structure that extends around the entire periphery of the surgical cart 10 to provide 360° grasping access for easy maneuvering of the surgical cart 10. In other embodiments, the handle assembly 50 includes handrails positioned on one or both sides of the surgical cart 10 to facilitate pulling or pushing the surgical cart 10 from the side (e.g., sideways, forward, backward, etc.). In other embodiments, the handle assembly 50 includes handrails positioned at the front end 12 of the surgical cart 10 to facilitate pulling or pushing the surgical cart 10 from the front end 12.

[0020] As shown in FIGS. 1-3, 5A-5B, and 10-11, the chassis 100 includes a front portion 110, a rear portion 120, and a center portion 130. In the exemplary embodiment, the front portion 110 is connected to the rear portion 120 via the center portion 130, creating a single, continuous chassis 100 (i.e., a one-piece structure). As shown in FIGS. 5A-5B and 11, the front portion 110 and the center portion 130 of the chassis 100 define an interior volume 112. The interior volume 112 is configured to receive a wheel steering assembly 200, thereby allowing the wheel steering assembly 200 to be coupled to the chassis 100. The rear portion 120 of the chassis 100 defines a cavity 122. The cavity 122 is configured to receive a pivoting carriage assembly 300, thereby allowing the pivoting carriage assembly 300 to be coupled to the chassis 100.

[0021] 4A-4D , pivoting carriage assembly 300 includes a frame member, designated pivoting carriage 310. Pivoting carriage 310 includes a pair of brackets, designated caster brackets 312. Caster brackets 312 are configured to couple rear casters 302 to pivoting carriage 310. Rear casters 302 include extensions (designated stems 304) extending from their tops. Caster brackets 312 are configured to receive stems 304 of rear casters 302, thereby rotatably coupling rear casters 302 to pivoting carriage 310. In another aspect, pivoting carriage 310 defines a flat mounting position, and rear casters 302 include corresponding flat mounting plates configured to clip into the flat mounting position, thereby coupling rear casters 302 to pivoting carriage 310. In the exemplary embodiment, the rear caster 302 is rotatably coupled to the pivoting carriage 310 so as to be free to rotate about its central axis (shown as vertical axis 340). Thus, when the surgical cart 10 is maneuvered, the rear caster 302 can freely rotate about the vertical axis 340. In some embodiments, the rear caster 302 includes a brake to prevent the wheel of the rear caster 302 from rotating (i.e., to help lock the surgical cart 10 in place) and / or to fix the rotation of the rear caster 302 in a desired direction (i.e., to prevent rotation about the vertical axis 340). In other embodiments, the rotation of the rear caster 302 relative to the vertical axis 340 is fixed so as to orient the rear caster 302 in a single direction (e.g., forward).

[0022] 4A-4D , pivoting carriage assembly 300 includes a mount, such as carriage mount 320. In the exemplary embodiment, carriage mount 320 is configured to pivotally couple pivoting carriage assembly 300 to rear 120 of chassis 100. As shown in FIGS. 4A-4D , carriage mount 320 includes a top surface, shown as mounting surface 322, and a side surface, shown as interaction surface 328. In the exemplary embodiment shown in FIGS. 4A-4D , carriage mount 320 defines a plurality of openings, shown as openings 325, configured to receive a corresponding plurality of fasteners (shown as fasteners 326) extending from mounting surface 322. In another embodiment, fasteners 326 are integrally formed along mounting surface 322 of carriage mount 320.

[0023] 5A-5B, rear 120 of chassis 100 includes a plate, shown as mounting plate 124. Mounting plate 124 defines a plurality of openings, shown as openings 126. To facilitate coupling of pivoting carriage assembly 300 to chassis 100, openings 126 are positioned to mate with fasteners 326 of carriage mount 320. In the exemplary embodiment, pivoting carriage assembly 300 is placed within cavity 122 so that mounting surface 322 of carriage mount 320 abuts the bottom surface of mounting plate 124. In one embodiment, opening 126 is threaded such that when opening 126 receives fastener 326 (e.g., a bolt, etc.), a corresponding additional fastener (e.g., a nut, etc.) is not required. In other embodiments, fastener 326 extends through opening 126 and receives a corresponding fastener (e.g., a nut, etc.) to couple pivoting carriage assembly 300 to chassis 100. In yet another embodiment, a fastener (e.g., a nut, etc.) is secured (e.g., welded, glued, integrally formed, etc.) to mounting plate 124 and positioned in alignment with opening 126 to receive fastener 326.

[0024] 4A-4D , pivoting carriage 310 defines a pair of openings, shown as openings 314. Openings 314 are configured to receive rods (shown as pivot rods 324) extending from opposite ends of carriage mount 320 in the longitudinal direction, thereby pivotally coupling carriage mount 320 and pivoting carriage 310. Interaction between openings 314 and pivot rods 324 facilitates rotation of pivoting carriage 310 about a longitudinal axis, shown as longitudinal axis 330. In some embodiments, rotation of pivoting carriage 310 about longitudinal axis 330 is assisted by a lubricant and / or bearings disposed between openings 314 and pivot rods 324.

[0025] 4A-4D, pivoting carriage 310 includes a pair of plates (shown as plates 316) disposed on each side of carriage mount 320. Plates 316 are spaced apart from one another to define a cavity, shown as pivot gap 318. Pivot gap 318 is configured to receive carriage mount 320 when carriage mount 320 is coupled to pivoting carriage 310 (e.g., rotatably coupled via pivot rod 324). In an exemplary embodiment, pivot gap 318 is sized to facilitate rotation of pivoting carriage 310 relative to carriage mount 320.

[0026] 4A-4C, pivoting carriage assembly 300 includes limiting members, shown as detents 350, positioned on each side of pivoting carriage 310. In other embodiments, pivoting carriage assembly 300 includes a different number of detents 350 (e.g., two, three, etc.) on each side of pivoting carriage 310. As shown in FIGS. 4A-4C, detents 350 are disposed along plate 316. In one embodiment, detents 350 are coupled (e.g., welded, glued, fastened, etc.) to plate 316. In another embodiment, detents 350 and plate 316 form a single continuous structure (e.g., a one-piece structure, etc.).

[0027] In the exemplary embodiment, the detents 350 are configured to limit the amount of rotation of the pivoting carriage 310 relative to the carriage mount 320. For example, when the pivoting carriage 310 reaches a pivot limit (e.g., 2° rotation about the fore-aft axis 330), one of the detents 350 may contact a corresponding surface (e.g., a plate) on the rear 120 of the chassis 100. In the exemplary embodiment, the detents 350 are sized to allow the pivoting carriage 310 to rotate about the fore-aft axis 330 up to the pivot limit, which corresponds to a vertical misalignment of at least one of the rear casters 302 of ±approximately 6 millimeters (mm) (e.g., the first caster 302 misaligning upward a certain distance and the second caster 302 misaligning downward the same distance). In other embodiments, detents 350 are sized to allow pivoting carriage 310 to rotate about fore-aft axis 330 to different pivot limits (e.g., rotate 1°, rotate 3°, etc.), which pivot limits correspond to vertical offsets of at least one of rear casters 302 that are less than or greater than ±6 mm (e.g., 4 mm, 8 mm, etc.). In some embodiments, rear casters 302 include spring members to allow vertical offsets in addition to or instead of the vertical offset provided by pivoting carriage assembly 300.

[0028] In another embodiment, the carriage mount 320 is laterally offset from the front-to-rear axis 330 (e.g., toward one rear caster 302). Laterally offsetting the carriage mount 320 may facilitate vertically offsetting one rear caster 302 a different distance than the other rear caster 302 (e.g., one may be offset a first distance in one direction, and the other may be offset a different distance in a second, opposite direction). This configuration may be advantageous when a majority of the weight supported by the surgical cart 10 is located toward one side of the surgical cart 10. In yet another alternative embodiment, the carriage mount 320 is omitted and replaced with a central support structure configured to slidably receive a curved beam member. The curved beam member may be configured to slidably translate through the central support when the surgical cart 10 encounters various uneven surfaces, causing vertical offset of the rear casters 302. In yet another alternative embodiment, the pivoting carriage assembly 300 includes side plates defining symmetrically angled slots positioned on each side of the side plates. In the exemplary embodiment, the symmetrically angled slots are configured to receive and engage pins. Engagement of the pins with the symmetrically angled slots facilitates rotation of the pivoting carriage assembly 300 about its central axis defined between the symmetrically angled slots.

[0029] In another aspect, the detent 350 is omitted, and the plate 316 is configured to limit the amount of rotation of the pivoting carriage 310 relative to the carriage mount 320. The rotation of the pivoting carriage 310 may be limited by the interaction of the interaction surface 328 of the carriage mount 320 with the plate 316. For example, the width of the pivot gap 318 (i.e., the distance between the plate 316 and the interaction surface 328, based on the spacing between the plates 316) may determine the amount of rotation of the pivoting carriage 310 relative to the carriage mount 320 (e.g., before the entire load from the surgical cart 10 is transferred through the single rear caster 302). For example, the wider the pivot gap 318, the greater the amount of rotation of the pivoting carriage 310 is permitted relative to the carriage mount 320. Conversely, the narrower the width of the pivot gap 318, the less the amount of rotation of the pivoting carriage 310 is permitted relative to the carriage mount 320.

[0030] 12B , the pivoting carriage assembly 300 includes a frame member (e.g., a pivoting bogie, etc.) designated as pivoting carriage 360. The pivoting carriage 360 ​​includes a main portion designated as body 362 having a pair of brackets, designated as caster brackets 364, one positioned at each lateral end thereof. The caster brackets 364 are configured to couple the rear caster 302 to the pivoting carriage 360. The caster brackets 364 are configured to receive the stems 304 of the rear casters 302, thereby rotatably coupling the rear casters 302 to the pivoting carriage 360. In another aspect, the pivoting carriage 360 ​​defines a flat mounting position, and the rear casters 302 include corresponding flat mounting plates configured to clip into the flat mounting position, thereby coupling the rear casters 302 to the pivoting carriage 360. In the exemplary embodiment, the rear caster 302 is rotatably coupled to the pivot carriage 360 ​​so as to be free to rotate about its vertical axis 340. Thus, when the surgical cart 10 is maneuvered, the rear caster 302 can freely rotate about the vertical axis 340. In some embodiments, the rear caster 302 includes a brake to prevent the wheel of the rear caster 302 from rotating (i.e., to help lock the surgical cart 10 in place) and / or to fix the rotation of the rear caster 302 in a desired direction (i.e., to prevent rotation about the vertical axis 340). In other embodiments, the rotation of the rear caster 302 relative to the vertical axis 340 is fixed so as to orient the rear caster 302 in a single direction (e.g., forward).

[0031] As shown in Figures 12A-12C, pivoting carriage assembly 300 includes a mount portion, shown as carriage mount 370. In the exemplary embodiment, carriage mount 370 is configured to pivotally couple pivoting carriage assembly 300 to rear portion 120 of chassis 100. As shown in Figures 12A-12C, carriage mount 370 includes a body, shown as housing 372. As shown in Figure 12C, housing 372 of carriage mount 370 defines an interior cavity, shown as carriage cavity 374. In the exemplary embodiment, carriage cavity 374 is configured to receive pivoting carriage 360.

[0032] As shown in FIGS. 12A-12B, pivoting carriage 360 ​​includes rods, shown as pivot rods 366, extending from the front and rear of body 362 of pivoting carriage 360. As shown in FIGS. 12A-12C, housing 372 of carriage mount 370 defines a pair of openings, shown as pivot openings 376. As shown in FIG. 12A, pivot openings 376 are configured to receive pivot rods 366, thereby pivotally coupling pivoting carriage 360 ​​to carriage mount 370. Interaction between pivot openings 376 and pivot rods 366 facilitates rotation of pivoting carriage 360 ​​about a fore-aft axis, shown as fore-aft axis 390. In some embodiments, rotation of pivoting carriage 360 ​​about fore-aft axis 390 is assisted by a lubricant and / or bearings disposed between pivot openings 376 and pivot rods 366.

[0033] 11 and 12A-12C, housing 372 of carriage mount 370 defines a plurality of openings, shown as mounting openings 378. As shown in FIG. 11, mounting openings 378 are configured to receive a plurality of fasteners (e.g., bolts, etc.), shown as fasteners 384, which couple pivoting carriage assembly 300 (e.g., pivoting carriage 360, carriage mount 370, etc.) to rear 120 of chassis 100.

[0034] As shown in FIG. 12C , pivoting carriage assembly 300 includes limiting members, shown as detents 382, ​​positioned within carriage cavity 374 of housing 372 (e.g., disposed along the inner surface of the top of housing 372) at both ends of carriage mount 370 in the fore-aft axial direction. In other embodiments, pivoting carriage assembly 300 includes a different number of detents 382 (e.g., two, three, etc.) positioned on each side of pivoting carriage 310. In some embodiments, detents 382 are coupled (e.g., welded, glued, fastened, etc.) to housing 372. In some embodiments, detents 382 and housing 372 form a single continuous structure (e.g., a one-piece structure, etc.). In other embodiments, detents 382 are additionally or alternatively positioned and / or coupled to body 362 of pivoting carriage 360.

[0035] In the exemplary embodiment, the detents 382 are positioned to limit the amount of rotation of the pivoting carriage 360 ​​relative to the carriage mount 370. For example, one of the detents 382 may contact a corresponding surface (e.g., the top surface) of the body 362 when the pivoting carriage 360 ​​reaches a pivot limit (e.g., 2° rotation about the fore-aft axis 390). In the exemplary embodiment, the detents 382 are sized to allow the pivoting carriage 360 ​​to rotate about the fore-aft axis 390 up to the pivot limit, which corresponds to a vertical misalignment of at least one of the rear casters 302 of ±approximately 6 millimeters (mm) (e.g., the first caster 302 misaligning upward a certain distance and the second caster 302 misaligning downward the same distance). In other embodiments, detents 382 are sized to allow pivoting carriage 360 ​​to rotate about fore-aft axis 390 to different pivot limits (e.g., rotate 1°, rotate 3°, etc.), which pivot limits correspond to vertical offsets of at least one of rear casters 302 that are less than or greater than ±6 mm (e.g., 4 mm, 8 mm, etc.). In some embodiments, rear casters 302 include spring members to allow vertical offsets in addition to or alternative to those provided by pivoting carriage assembly 300. As shown in FIGS. 12A-12C , housing 372 of carriage mount 370 defines openings, shown as openings 380, positioned at each end of housing 372. In the exemplary embodiment, the opening 380 is positioned to prevent the caster bracket 364 and / or the stem 304 from engaging with the housing 372 when the pivoting carriage 360 ​​pivots about the fore-aft axis 390 (e.g., when the pivot limit is reached).

[0036] In the exemplary embodiment, pivoting carriage assembly 300 and front wheels 202 provide quasi-four-point support for surgical cart 10 during transport and / or when stationary. For example, pivoting carriage 310 and / or pivoting carriage 360 ​​are pivotable such that surgical cart 10 functions as a three-wheeled cart when the pivot limit is not reached (e.g., the entire load is transferred to chassis 100 through carriage mount 320 or carriage mount 370), and becomes a four-wheeled cart when the pivot limit is reached (e.g., when detent 350 or detent 382 limits rotation). Thus, the front wheels 202 and pivoting carriage assembly 300 provide the surgical cart 10 with a critical three-point support (e.g., functioning as a three-wheeled cart when not yet at the pivoting amount) for increased rocking resistance and caster flutter resistance (e.g., compared to a conventional four-wheeled cart), and a four-point support (e.g., functioning as a four-wheeled cart when the pivoting amount is reached) for increased stability (e.g., improved tipping resistance compared to a conventional three-wheeled cart).

[0037] In the exemplary embodiment, the pivoting carriage assembly 300 provides three-point support, facilitating self-alignment of the surgical cart 10 when moving and / or stationary over uneven surfaces (e.g., ramps, door thresholds, cords, elevator access, etc.). Conventional four-point surgical carts can tip when encountering uneven surfaces, transferring a greater load to one side of the cart and increasing the risk of cart rocking or caster wheel fluttering. In the exemplary embodiment, the rotation (i.e., self-alignment) of the pivoting carriage 310 or pivoting carriage 360 ​​relative to the carriage mount 320 or carriage mount 370, respectively, has the advantage of preventing the surgical cart 10 from rocking. For example, self-adjustment can prevent the entire load from the surgical cart 10 from being transferred to one of the rear casters 302 (e.g., the load from the surgical cart 10 being transferred to uneven ground substantially through both rear casters 302), which effectively prevents rocking of the surgical cart 10 and / or fluttering of one of the front wheels 202 and rear caster 302.

[0038] Conventional three-point support surgical carts (i.e., three-wheeled carts) may have a high risk of tipping. In the exemplary embodiment, the pivoting carriage assembly 300 has the advantage of effectively providing four-point support to prevent the surgical cart 10 from tipping when the pivot limit is reached. Thus, the pivoting carriage assembly 300 eliminates rocking of the surgical cart 10 and fluttering of the front wheels 202 and rear casters 302, while meeting various regulatory requirements for tipping (e.g., IEC tipping standards, etc.).

[0039] 2-3, 5A-5G, 10-11, and 13, floor lock 400 is configured to stabilize surgical cart 10 in place. When activated (e.g., engaged with a floor surface), floor lock 400 is configured to prevent lateral and / or fore-and-aft movement of at least one of rear end 14 of surgical cart 10 and front end 12 of surgical cart 10. In FIGS. 2-3, 5A-5G, 10-11, and 13, floor lock 400 is a mechanical mechanism actuated by an operator of surgical cart 10. In another embodiment, floor lock 400 is an electromechanical mechanism actuated by an actuator (e.g., an electric motor) in response to receiving a command from computing system 40 (e.g., a command based on operator input received by display device 42 or input device 44).

[0040] In the exemplary embodiment shown in Figures 5A-5F, the floor lock 400 is selectively reconfigurable between a disengaged configuration, shown as a transport configuration 402 (in Figures 5A and 5C), and an engaged configuration, shown as a machine configuration 406 (in Figures 5B and 5E) (e.g., a configuration in which the surgical cart 10 is in machine drive mode, parking mode, braking mode, etc.). The floor lock 400 may be actuated from the transport configuration 402 to the machine drive configuration 406 in response to an operator of the surgical cart 10 depressing a pedal 412. In the exemplary embodiment, the floor lock 400 is constructed as a latching push-push mechanism that allows a single depression of the floor lock 400 to reconfigure the floor lock 400 from the transport configuration 402 to the machine drive configuration 406 (e.g., a single depression of the pedal 412 immobilizes an approximately 600 pound cart), and vice versa. Advantageously, the floor lock 400 eliminates the need for a ratchet mechanism, pump mechanism, and / or actuator (e.g., hydraulic cylinder, electric motor, etc.) to immobilize the surgical cart 10 with the floor lock 400 (e.g., actuation of the floor lock 400 may be relatively easily provided by, for example, the operator of the surgical cart 10). In another embodiment, the floor lock 400 is configured as a push-pull mechanism such that depressing the pedal 412 engages the floor lock 400 with the ground, and lifting the pedal 412 disengages the floor lock 400 from the ground. In yet another alternative embodiment, the floor lock 400 includes a first lever configured to engage the floor lock 400 with the ground and a second lever configured to disengage the floor lock 400 from the ground.

[0041] As shown in FIGS. 5A-5F, floor lock 400 includes a first member, shown as brake pedal 410, and a second member, shown as brake 420. Brake pedal 410 includes an actuation surface, shown as pedal 412, coupled to a pair of arms, shown as arms 414. In an exemplary embodiment, pedal 412 is foldable (e.g., for storage, to move out of the way, etc.). For example, pedal 412 may be pivotally coupled to arm 414 with a detent that facilitates selective positioning of pedal 412 between a stowed position and an operating position. Arm 414 may define a slot configured to receive a limiter of pedal 412. The slot may define a movement that the limiter, and therefore pedal 412, can follow. As shown in FIGS. 5C-5F, arm 414 is rotatably coupled to chassis 100 via a fastener, shown as hinge 416. As shown in FIGS. 5A-5F, brake 420 includes an arm, shown as brake arm 422, and a pad, shown as brake pad 424, coupled to brake arm 422. As shown in FIGS. 5C-5F, brake arm 422 is rotatably coupled to chassis 100 via a fastener, shown as hinge 426. As shown in FIG. 5B, floor lock 400 includes an actuator, shown as brake actuator 430. Brake actuator 430 may include a gas cylinder, a hydraulic cylinder, a coil spring, or the like. Brake actuator 430 is configured to couple brake pedal 410 to brake 420.

[0042] As shown in FIGS. 5A-5F, the floor lock 400 further includes a first lever, designated as a latching lever 440; a guide block, designated as a cam block 450; a second lever, designated as an extension lever 460; and a pair of linkages, designated as lift linkages 470. In some embodiments, the floor lock 400 includes legs (e.g., one, two, three, etc.) designated as chassis front legs 480 positioned at the front end 12 of the chassis 100. As shown in FIGS. 5C-5F, a first end of the latching lever 440 is pivotally coupled to the brake pedal 410 via a fastener, designated as a hinge 418, and an opposite second end of the latching lever 440 is slidably coupled within a slot (designated as a cam track 452) defined by the cam block 450. The opposite second end of the latching lever 440 may also be coupled to a first end of a second lever, designated as an extension lever 460. The opposite second end of the extension lever 460 is coupled to a first end of a lift linkage 470. The lift linkage 470 includes a first member, shown as a rotary linkage 472; a second linkage, shown as a guide linkage 474; a third linkage, shown as a cylinder 476; and a fourth linkage, shown as a rod 478. As shown in FIGS. 5A-5F , the floor lock 400 includes a bracket, shown as a bracket 479. The bracket 479 is configured to couple the opposite second end of the lift linkage 470 to the body 20 of the surgical cart 10. In the exemplary embodiment, the lift linkage 470 is configured to facilitate lifting the front wheels 202 so that the front 110 of the chassis 100 kneels (i.e., kneeling function) until the front chassis legs 480 contact the ground 600. In another embodiment, lift linkage 470 is configured to facilitate extension of chassis front legs 480 such that chassis front legs 480 lift front 110 of chassis 100 such that front wheels 202 no longer engage ground 600. In an exemplary embodiment, lift linkage 470 is or includes a gas spring.

[0043] As shown in Figures 5A and 5C, the floor lock 400 is configured in the transport configuration 402. The brake pads 424 and front chassis legs 480 do not come into contact with the ground 600 in the transport configuration 402, thereby facilitating free transport and / or maneuvering of the surgical cart 10. As shown in Figure 5D, a user may apply a downward actuation force, indicated by arrow 490, to the pedal 412 to cause the arm 414 to rotate downward about the hinge 416 and reconfigure the floor lock 400 from the transport configuration 402 to the intermediate configuration 404. Actuation of the brake pedal 410 causes the brake arm 422 of the brake 420 to rotate (e.g., via the brake actuator 430) about the hinge 426 so that the brake pads 424 engage the ground 600. Actuation of brake pedal 410 to intermediate configuration 404 also causes the opposite second end of latched lever 440 to rotate in a first rotational direction (e.g., counterclockwise) along cam track 452, which in turn causes extension lever 460 to extend and engage rotary linkage 472 such that rotary linkage 472 rotates. Rotation of rotary linkage 472 causes guide linkage 474 and rod 478 to translate (e.g., vertically upward) such that rod 478 slidably translates within cylinder 476. In the exemplary embodiment, translation of rod 478 corresponds to a vertical offset of front wheels 202, which in turn causes front 110 of chassis 100 to lower (i.e., buckle) until chassis front legs 480 engage ground 600. In another aspect, translation of rod 478 corresponds to a vertical displacement of chassis front legs 480 , which causes front 110 of chassis 100 to rise until front wheels 202 disengage from ground surface 600 .

[0044] As shown in FIG. 5E, the user may cease applying a downward actuation force to the pedal 412 such that the arm 414 rotates upward about the hinge 416, as indicated by arrow 492, to configure the floor lock 400 into the machine run configuration 406. Releasing the brake pedal 410 causes the latching lever 440 to advance along the cam track 452 and around a lip, shown as the latching lip 454 (see, e.g., FIGS. 5C-5D). The latching lip 454 holds the latching lever 440 in place so that the floor lock 400 remains in the machine run configuration 406 (e.g., without the application of an external force by an operator). Note that FIGS. 5D-5E are separated for illustrative purposes only. In fact, a single actuation motion (e.g., depressing and then releasing pedal 412) is all that is required to reconfigure floor lock 400 of surgical cart 10 from transport configuration 402 to machine operation configuration 406.

[0045] As shown in FIG. 5F , a user may apply a downward actuation force, indicated by arrow 494, to the pedal 412 to rotate the arm 414 downward about the hinge 416 and reconfigure the floor lock 400 from the machine run configuration 406 to the disengaged configuration 408. As shown in FIG. 5F , applying a downward force to the pedal 412 while in the machine run configuration 406 disengages the opposite second end of the latching lever 440 from the latching lip 454. Disengaging the opposite second end of the latching lever 440 from the latching lip 454 allows the latching lever 440 to rotate in a second rotational direction (e.g., clockwise) along the cam track 452 to return the floor lock to the transport configuration 402. For example, after applying the downward force, a user may remove the force from the pedal 412 (e.g., release the pedal 412) to move the latching lever 440 in the second rotational direction about the cam track 452. 5C (i.e., transport configuration 402), which causes brake 420 to rotate about hinge 416 such that brake pad 424 disengages from ground surface 600. Additionally, extension lever 460 retracts, which causes guide linkage 474 and rod 478 to translate vertically downward such that rod 478 slidably translates out of cylinder 476. Front wheels 202 then extend downward to engage ground surface 600, lifting front of chassis 110 so that front chassis legs 480 disengage from ground surface 600.

[0046] 11 and 13, the lift linkage 470 (e.g., cylinder 476 and rod 478) may be replaced with a suspension element, shown as a coil-over 482. The coil-over 482 includes a damper, shown as a shock 484, and a resilient member, shown as a coil spring 486, surrounding the shock 484. In the exemplary embodiment, the coil-over 482 is configured to provide controlled cushioning when the front 110 of the chassis 100 buckles and lifts. In other embodiments, the floor lock 400 includes multiple (e.g., two, three, etc.) coil-overs 482.

[0047] In exemplary embodiments, engagement of the brake pads 424 with the ground surface 600 substantially prevents movement of the rear end 14 of the surgical cart 10 (e.g., sideways, front-to-back, etc.), and engagement of the chassis front legs 480 with the ground surface 600 substantially prevents movement of the front end 12 of the surgical cart 10 (e.g., sideways, front-to-back, etc.), thereby establishing complete immobility of the surgical cart 10 (e.g., without locking the rear casters 302 and / or front wheels 202, etc.). In some embodiments, the brake pads 424 and / or the chassis front legs 480 include a resilient material (e.g., rubber, etc.) to achieve at least one of: (i) increasing friction between the brake pads 424 and / or the chassis front legs 480 and the ground surface 600; and (ii) reducing loads transferred from the surgical cart 10 to the ground surface 600 (e.g., increasing the stability of the surgical cart 10, improving the precision of the surgical device 30, etc.). In the exemplary embodiment, the floor locks 400 do not lift the rear casters 302 of the surgical cart 10 off the ground 600. This can be advantageous in reducing the amount of force required to engage the floor locks 400 with the ground 600 to immobilize the surgical cart 10 (e.g., compared to having the floor locks 400 lift the rear end 14 of the surgical cart 10 off the ground 600). The floor locks 400 apply force to the ground via the brake pads 424, thereby preventing the rear end 14 of the surgical cart 10 from moving. In the exemplary embodiment, when the chassis front legs 480 engage the ground 600, the front wheels 202 retract and / or the chassis front legs 480 extend so that the front wheels 202 no longer contact the ground 600 (e.g., spin freely, become completely unloaded, etc.).

[0048] 5G, when the floor locks 400 are in the machine operating configuration 406, the floor locks 400, carriage mounts 320, and / or carriage mounts 370, together with the chassis front legs 480, provide a three-point support structure 500 for the surgical cart 10. During use of the surgical device 30 (e.g., when the surgical device 30 is moving, being used in a procedure, operating on a machine, etc.), optimal stability of the surgical cart 10 is achieved when the mass of the surgical cart 10 is kinematically supported at three points and the center of mass is located approximately at the center of gravity of the area defined by the three points. In an exemplary embodiment, the surgical cart 10 is supported by the three-point support structure 500, including each of the chassis front legs 480, carriage mounts 320, carriage mounts 370, and / or brake pads 424 of the brakes 420. Additionally, the center of mass 510 of the surgical cart 10 is substantially near the center of gravity of the area defined by the three-point support structure 500. Thus, the surgical cart 10 has three-point stability (i.e., increased stability when stationary due to machine operation) when the floor locks 400 are in the machine operation configuration 406, and quasi-four-point stability (e.g., from the front wheels 202 and pivoting carriage assembly 300) when the floor locks 400 are in the transport configuration 402 (i.e., increased stability when moving, preventing rocking, fluttering, and tipping during transport). In an exemplary embodiment, the chassis 100 is relatively rigid to minimize deflection as loads are transferred from the surgical device 30 through the surgical cart 10 during operation (e.g., machine operation), thereby further enhancing the precision of the surgical device 30.

[0049] In another embodiment, the extension lever 460, lift linkage 470, coilover 482, and / or front chassis legs 480 are omitted. In that other embodiment, when the floor lock 400 is in the machine operating configuration 406, the carriage mount 320, carriage mount 370, and / or floor lock 400, together with the front wheels 202, provide a three-point support structure 502 for the surgical cart 10 (e.g., no portion of the surgical cart 10 rises or falls, the front 110 of the chassis 100 does not buckle, etc.). Engagement of the floor lock 400 may (i) lock the front wheels 202 in their current position, or (ii) pivot and / or lock the front wheels 202 in a desired position (e.g., a fore-aft position, a lateral position, etc.). In one embodiment, actuating the floor lock 400 orients and / or locks the front wheels 202 in a fore-aft (i.e., forward) direction. Positioning the front wheels 202 in a fore-aft orientation (as shown in FIGS. 5A-5B ) may prevent lateral movement of the front end 12, thereby establishing complete immobility of the surgical cart 10. In another embodiment, activation of the floor locks 400 orients and / or locks the front wheels 202 laterally (i.e., sideways). Positioning the front wheels 202 laterally may further prevent fore-aft movement of the front end 12 of the surgical cart 10. In other embodiments, engagement of the floor locks 400 does not lock the front wheels 202 or position the front wheels 202 in a desired position (e.g., the front wheels 202 may be manually pivoted to a desired position, the front wheels 202 may be manually locked, etc.). In some embodiments, the front wheels 202 include a brake mechanism positioned to prevent rotation of the front wheels 202. In yet another alternative embodiment, the surgical cart 10 includes one or more floor locks 400 positioned at the front end 12 of the surgical cart 10 to immobilize the front end 12 of the surgical cart 10.In yet another aspect, the chassis 100 includes one or more rear chassis legs so that the surgical cart 10 can be lowered onto the rear chassis legs (e.g., the front chassis legs 480 and the rear chassis legs immobilize the surgical cart 10, the front wheels 202 and the rear chassis legs immobilize the surgical cart 10, etc.).

[0050] 5A-5B, 6-9B, 11, and 13-17B, the wheel steering assembly 200 is configured to facilitate steering the surgical cart 10 in multiple steering modes (e.g., forward / backward steering mode, rotational (auto-pilot) steering mode, side-to-side steering mode, etc.) As shown in FIGS. 5A-5B, 6, 7A, 8A, 9A, 11, 13-14B, 15B, 16B, and 17B, the wheel steering assembly 200 includes a steering frame member shown as a steering swing arm 210. 6-7A, 8A, 9A, 11, 13-14B, 15B, 16B, and 17B, steering swing arm 210 includes a plate, designated as steering plate 212; a wall, designated as wall 214, extending around the periphery of steering plate 212; and a pair of brackets, designated as wheel brackets 216, coupled to wall 214. Wheel brackets 216 are configured to couple front wheels 202 to steering swing arm 210. As shown in FIG. 7B, front portion 110 of chassis 100 defines openings, designated as wheel openings 116, with wheel brackets 216 positioned to extend from wheel openings 116. Thus, front wheels 202 can be positioned outboard of chassis 100.

[0051] As shown in FIGS. 6-7A, 8A, and 9A, the steering swing arm 210 includes a pair of mounts, designated as steering assembly mounts 218. As shown in FIGS. 5A-5B, the steering assembly mounts 218 are configured to couple the wheel steering assembly 200 to the chassis 100 within the interior volume 112. In the exemplary embodiment, the central portion 130 of the chassis 100 defines a set of openings that correspond to the openings defined by the steering assembly mounts 218. The corresponding openings receive fasteners (e.g., nuts and bolts) that removably couple the steering swing arm 210 to the chassis 100. In the exemplary embodiment, the steering assembly mounts 218 pivotally couple the steering swing arm 210 to the chassis 100, thereby facilitating rotation of the steering swing arm 210 when the front 110 of the chassis 100 flexes (e.g., when the floor lock 400 is engaged).

[0052] As shown in FIGS. 11 , 13-14B , 15B , 16B , and 17B , the steering swing-arm 210 includes a pair of pivot shafts, shown as steering assembly pivot shafts 219, extending laterally therefrom. As shown in FIG. 11 , the central portion 130 of the chassis 100 defines a pair of mounts (shown as couplers 132) positioned to receive the steering assembly pivot shafts 219, such that the steering assembly pivot shafts 219 are configured to couple the wheel steering assembly 200 to the chassis 100 within the interior volume 112. In the exemplary embodiment, the steering assembly pivot shafts 219 pivotally couple the steering swing-arm 210 to the chassis 100, thereby facilitating rotation of the steering swing-arm 210 when the front 110 of the chassis 100 flexes (e.g., when the floor lock 400 is engaged).

[0053] As shown in FIGS. 6-7A, 8A, 9A, 11, and 13, the wheel steering assembly 200 includes a steering mechanism, shown as steering mechanism 240. In an exemplary embodiment, the steering mechanism 240 is configured as a manually operated mechanical linkage and / or crank system that steers the front wheels 202 in response to manual manipulation by an operator of the surgical cart 10. In an exemplary embodiment, the mechanical linkage and / or crank system of the steering mechanism 240 eliminates the need for belts, gears, sprockets, and / or adjustment mechanisms, thereby reducing cost and minimizing maintenance. In another embodiment, the steering mechanism 240 is an electromechanical linkage system that is actuated by an actuator (e.g., an electric motor) in response to receiving commands from the computing system 40 (e.g., commands based on operator input received by the display device 42 or the input device 44). In another alternative embodiment, each of the front wheels 202 and / or rear casters 302 includes an actuator (e.g., an electric motor, etc.) positioned to independently steer each of the front wheels 202 and rear casters 302 in response to receiving commands from the computing system 40. In some embodiments, the electric motor is adapted to propel the surgical cart 10 by providing rotational energy to at least one of the front wheels 202 and rear casters 302.

[0054] As shown in Figures 5A-5B, 6-7A, 8A, and 9A, steering mechanism 240 includes a handle 242. Handle 242 is configured to provide an operator of surgical cart 10 with a lever to apply leverage to reconfigure steering mechanism 240 into a plurality of steering modes. As shown in Figures 5A-5B and 6, handle 242 is coupled to a shaft 244 that defines an axis, shown as axis of rotation 241. For example, by rotating handle 242 about axis of rotation 241, as shown by arrow 243, steering mechanism 240 can be reconfigured into a desired steering mode.

[0055] As shown in FIGS. 5A-5B, 6, and 13, shaft 244 extends from handle 242 to an indexing member, shown as indexing case 246. In other embodiments, shaft 244 extends from one of handgrips 52 to indexing case 246. As shown in FIGS. 5A-5B, indexing case 246 is coupled to chassis 100 (e.g., via fasteners). As shown in FIGS. 6-7A, 8A, 9A, and 13, indexing case 246 includes a first linkage member, shown as a rotary linkage 248, rotatably coupled to shaft 244 and disposed within indexing case 246. Rotational linkage 248 includes extensions, shown as retention legs 247. The retaining leg 247 is configured to abut the alignment case 246 to restrict rotation of the rotary coupling 248 in a first direction (e.g., clockwise), while allowing rotation of the rotary coupling 248 in an opposite second direction (e.g., counterclockwise). The rotary coupling 248 also defines a plurality of indentations, shown as indicator indentations 249. Each indicator indentation 249 may correspond to an orientation of the handle 242 associated with a steering mode of the surgical cart 10. For example, a first indicator indentation 249 may be associated with a forward / backward steering mode, a second indicator indentation 249 may be associated with a rotational steering mode, and a third indicator indentation 249 may be associated with a side-to-side steering mode. In the exemplary embodiment, indicator indentations 249 interact with a movable member (e.g., an indexer, a spring-loaded ball bearing, etc.) positioned within alignment case 246 to provide feedback (e.g., tactile feedback, etc.) to the operator that a preset steering mode has been engaged as rotary linkage 248 rotates. Indicator indentations 249 may also facilitate maintaining steering mechanism 240 in one of the preset steering modes (e.g., via interaction of indicator indentations 249 with a movable member).

[0056] As shown in FIGS. 6-7A, 8A, 9A, and 13, the rotary linkage 248 is coupled to a first end of a second linkage member, designated as a connecting linkage 250. As shown in FIGS. 6-7A, 8A, and 9A, the opposite second end of the connecting linkage 250 is coupled to a transmission member, designated as a transmission block 252. The connecting linkage 250 is configured to transmit a rotational input provided by the rotary linkage 248 from the handle 242 to the transmission block 252. As shown in FIGS. 7A, 8A, and 9A, the transmission block 252 is coupled to first ends of a pair of third linkages, designated as intermediate linkages 256. Thus, the transmission block 252 couples the connecting linkage 250 to the intermediate linkages 256. As shown in FIGS. 6-7A, 8A, and 9A, the transmission block 252 is slidably coupled to a slide member, designated as a linear slide 254. Thus, the transmission block 252 converts rotational input from the handle 242 into linear translation along the linear slide 254 .

[0057] As shown in FIGS. 7A, 8A, and 9A, the opposite second end of each intermediate linkage 256 is coupled to a first end of a fourth linkage, designated as rotary linkage 258, and to a first end of a fifth linkage, designated as drive linkage 260. As shown in FIGS. 6-7A, 8A, and 9A, the opposite second end of each rotary linkage 258 is rotatably coupled to steering plate 212. Thus, rotary linkage 258 rotates about the connection point between the opposite second end of rotary linkage 258 and steering plate 212. As shown in FIGS. 7A, 8A, and 9A, when transmission block 252 is repositioned along linear slide 254 (e.g., by operating handle 242), intermediate linkage 256 both rotates and translates, while rotary linkage 258 only rotates. Thus, the movement of the intermediate linkage 256 is defined by the linear movement of the transmission block 252 and the rotational movement of the rotational linkage 258 .

[0058] 7A, 8A, and 9A, the opposite second end of drive linkage 260 is coupled to a first end of a sixth linkage, shown as wheel linkage 262. The opposite second end of wheel linkage 262 is coupled to front wheel 202. When handle 242 is operated, drive linkage 260 rotates and translates, causing the opposite second end of drive linkage 260 to extend through wheel opening 116. Its extension outward from wheel opening 116 causes wheel linkage 262 to rotate about a vertical axis, shown (in FIG. 6) as wheel axis 220. Thus, rotation of wheel linkage 262 causes front wheel 202 to rotate about wheel axis 220.

[0059] 13-14B, 15B, 16B, and 17B, the opposite second end of connecting linkage mechanism 250 is coupled to a crank mechanism, shown as crank mechanism 700. As shown in FIGS. 14A-14B, 15B, 16B, and 17B, crank mechanism 700 includes a rotational synchronizing element, shown as cam 710, a rotating element, shown as rotor 720, a pair of linkage mechanisms, shown as arms 730, and a pair of pivot joints, shown as wheel joints 740. In the exemplary embodiment, rotor 720 is rotatably coupled to steering plate 212 of steering swing arm 210 (e.g., by a rotational bearing, etc.). In the exemplary embodiment, cam 710 is rotationally fixed to rotor 720 such that cam 710 rotates with rotor 720.

[0060] 14B, 15B, 16B, and 17B, cam 710 defines a first interface shown as connection linkage interface 712, a second interface shown as first arm connection interface 714, and a third interface shown as second arm connection interface 716. An opposite second end of connection linkage 250 couples to connection linkage interface 712, a first end of first arm 730 couples to first arm connection interface 714, and a first end of second arm 730 couples to second arm connection interface 716. As shown in FIGS. 14A-14B, cam 710 is spaced from rotor 720 such that the first end of first arm 730 and the first end of second arm 730 are positioned between cam 710 and rotor 720. 14B, 15B, 16B, and 17B, the opposite second end of the first arm 730 is coupled to a first wheel coupling 740, and the opposite second end of the second arm 730 is coupled to a second wheel coupling 740. As shown in FIGS. 15B, 16B, and 17B, the wheel coupling 740 is pivotally coupled to the wheel bracket 216. Thus, rotation of the wheel coupling 740 causes the wheel axle 203, and thus the front wheel 202, to rotate about the wheel axle 220 (see FIG. 13).

[0061] As shown in FIGS. 15B, 16B, and 17B, movement of the connecting linkage 250 (e.g., caused by rotation of the handle 242, the hand grip 52, etc.) causes the cam 710 and the rotor 720 to rotate (e.g., about their central axes, etc.). Such rotation may drive the arm 730 to extend laterally outward (e.g., through the wheel opening 116, etc.), which may drive the wheel coupling 740 to rotate within the wheel bracket 216 and facilitate pivoting of the front wheel 202 in various positions. In the exemplary embodiment, the crank mechanism 700 (e.g., the rotor 720, the cam 710, etc.) is laterally offset (e.g., laterally offset toward one side) relative to the longitudinal centerline of the surgical cart 10. In the exemplary embodiment, the first wheel coupling 740 and the second wheel coupling 740 have different characteristics (e.g., shape, size, configuration, etc.). In the exemplary embodiment, the cam 710 has an asymmetric shape. The laterally offset crank mechanisms 700, the asymmetrical cams 710, and / or the different characteristics of the wheel joints 740 maintain synchronization of the front wheels 202 (e.g., the front wheels 202 do not pivot at different speeds from each other, the angular rotation of the front wheels 202 is synchronized, etc.).

[0062] In an exemplary embodiment, movement of the handle 242 and / or hand grip 52 corresponds to a 1:1 ratio between the rotation of the handle 242 and / or hand grip 52 and the rotation of the front wheel 202 (i.e., the amount of rotation of the handle 242 and / or hand grip 52 directly corresponds to the amount of rotation of the front wheel 202). For example, a 45° rotation of the handle 242 and / or hand grip 52 corresponds to a 45° rotation of the front wheel 202. In other embodiments, the amount of rotation of the handle 242 and / or hand grip 52 does not directly correspond to the amount of rotation of the front wheel 202 (e.g., a 1:2 ratio, a 2:1 ratio, a 1:3 ratio, a 3:1 ratio, etc.). In an exemplary embodiment, the steering mechanism 240 decouples external loads acting on the front wheel 202 from the handle 242 and / or hand grip 52. In another embodiment, the steering mechanism 240 steers the rear casters 302, and the front wheel 202 rotates freely. In another alternative embodiment, the steering mechanism 240 steers at least one of the front wheels 202 and the rear casters 302. In yet another alternative embodiment, at least one of the front wheels 202 and the rear casters 302 can both steer and free-spin (i.e., the steering mechanism 240 can be selectively disengaged from the front wheels 202 and / or the rear casters 302).

[0063] In the exemplary embodiment shown in FIGS. 7A-7B and 15A-15B, the surgical cart 10 is configured in a first steering mode, designated as the forward-rear steering mode 270. As shown in FIGS. 7A-7B, the handle 242 of the steering mechanism 240 is oriented in a first position (designated as the forward-rear position 272) corresponding to the forward-rear steering mode 270. As shown in FIG. 15A, the hand grip 52 is oriented in a first position, designated as the forward-rear position 72. While the handle 242 is oriented in the forward-rear position 272 and / or while the hand grip 52 is oriented in the forward-rear position 72, the front wheels 202 are oriented (e.g., forwardly oriented) to be parallel to the forward-rear axis of the surgical cart 10. Thus, an operator can steer the surgical cart 10 in a conventional manner, such as in a forward or reverse direction, as indicated by arrow 274. Additionally, while in the forward / rearward steering mode 270, the rear casters 302 are free to rotate (e.g., about the vertical axis 340), allowing the surgical cart 10 to turn (swivel) while moving forward or backward.

[0064] 8A-8B and 16A-16B, the surgical cart 10 is configured in a second steering mode, shown as pivotal steering mode 280. As shown in FIGS. 8A-8B, the handle 242 of the steering mechanism 240 is oriented in a second position (shown as pivotal position 282) corresponding to the pivotal steering mode 280 (e.g., the handle 242 is rotated approximately 45° from the fore-aft position 272). As shown in FIG. 16A, the hand grip 52 is oriented in a second position (shown as pivotal position 82) corresponding to the pivotal steering mode 280 (e.g., the hand grip 52 is rotated approximately 45° from the fore-aft position 72). While the handle 242 is oriented in the pivot position 282 and / or the hand grip 52 is oriented in the pivot position 82, the front wheels 202 pivot inward toward the surgical cart 10 (e.g., at an angle of approximately 45° relative to the fore-aft axis of the surgical cart 10) and enter a recess (shown as recess 114) defined by the front 110 of the chassis 100. Thus, the operator can steer the surgical cart 10 in a direction that rotates about the central axis 286 of the surgical cart 10, as indicated by arrow 284. As shown in FIGS. 8A-8B and 16A , steering the surgical cart 10 while in the pivot steering mode 280 causes the rear casters 302 to rotate accordingly, facilitating a zero-radius turn (i.e., allowing the surgical cart 10 to rotate about the central axis 286 in place).

[0065] 9A-9B and 17A-17B, the surgical cart 10 is configured in a third steering mode, shown as a side-steering mode 290. As shown in FIGS. 9A-9B, the handle 242 of the steering mechanism 240 is oriented in a third position (shown as a side-steering position 292) corresponding to the side-steering mode 290 (e.g., the handle 242 is rotated approximately 90° from the fore-aft position 272). As shown in FIG. 17A, the hand grip 52 is oriented in a third position (shown as a side-steering position 92) corresponding to the side-steering mode 290 (e.g., the hand grip 52 is rotated approximately 90° from the fore-aft position 72). While the handle 242 and / or the hand grip 52 are oriented in the horizontal position 292, the front wheels 202 are oriented perpendicular to the anterior-posterior axis of the surgical cart 10 (e.g., at a 90° angle relative to the anterior-posterior axis of the surgical cart 10) and fully retract into the recess 114. Thus, the operator can steer the surgical cart 10 laterally, as indicated by arrow 294. As shown in FIGS. 9A-9B and 17A, steering the surgical cart 10 while in the side-steering mode 290 causes the rear casters 302 to rotate accordingly, facilitating the lateral movement of the surgical cart 10. Steering the surgical cart 10 laterally can be useful for positioning the surgical cart 10 next to the operating table after maneuvering the surgical cart 10 (e.g., while in the front-to-rear steering mode 270) into the operating room. This can be difficult with conventional surgical carts, which have fixed front wheels. The cart must be backed up, pivoted, and returned, sometimes multiple times, until the position is correct. This often necessitates handling the cart from the front end, which may be in the sterile field of the operating room, which is not ideal. The surgical cart 10 of the present disclosure facilitates lateral translation from the rear end 14 of the surgical cart 10 near the operating table in the non-sterile field of the operating room. Furthermore, the pivoting carriage assembly 300 facilitates equalizing the load on the front wheels 202 for controlled lateral translation.

[0066] 7B, 8B, and 9B, in another embodiment, the handle 242 of the steering mechanism 240 is omitted, and one of the handgrips 52 is mechanically coupled to the steering mechanism 240 for reconfiguring the surgical cart 10 between various steering modes (as described above in connection with FIGS. 15A, 16A, and 17A). In another alternative embodiment, each of the handgrips 52 independently controls the rotation of the front wheels 202 (e.g., the right handgrip 52 controls the pivoting of the right front wheel 202, the left handgrip 52 controls the pivoting of the left front wheel 202, one rotates clockwise and the other counterclockwise, etc.).

[0067] 10 , 15A , 16A , and 17A , hand grip 52 (e.g., controlling the rotation of front wheel 202) includes a push button shown as lock button 56. In some embodiments, lock button 56 is configured to facilitate locking the rotational position of front wheel 202 (e.g., to prevent inadvertent rotation of hand grip 52 and front wheel 202). In some embodiments, lock button 56 is configured to facilitate unlocking the rotational position of front wheel 202 (e.g., a wheel lock for front wheel 202 is biased into a locked position). In some embodiments, the position of front wheel 202 is automatically locked in one or more positions (e.g., when hand grip 52 is oriented in fore-aft position 72). As shown in FIG. 15A, the hand grips 52 are angled relative to the anterior-posterior axis of the surgical cart 10 (e.g., angled 15° relative to the anterior-posterior axis of the surgical cart 10, thereby providing a better ergonomic feel when pushing the surgical cart 10).

[0068] The steering mechanism 240 is described in detail herein as being configured to facilitate selective steering of the front wheels 202 between the fore-aft position 272, the pivot position 282, and the lateral position 292. However, it should be understood that the front wheels 202 may be selectively pivoted and / or locked at any position between the fore-aft position 272 and the lateral position 292 (e.g., the front wheels 202 may be positioned and / or locked at any angle between 0 and 90 degrees relative to the fore-aft axis of the surgical cart 10).

[0069] The term "or / or" is used in an inclusive (rather than exclusive) sense; thus, for example, when used to connect a list of elements, the term "or / or" means one, some, or all of the elements in the list. Conjunctive language, such as the phrase "at least one of X, Y, and Z," unless otherwise specified, is to be understood in conjunction with the context as commonly used, meaning that the item, term, etc., can be either X, Y, Z, X and Y, X and Z, Y and Z, or X, Y, and Z (i.e., any combination of X, Y, and Z). Thus, unless otherwise specified, such conjunctive language is generally not intended to imply that at least one X, at least one Y, and at least one Z must each be present in a particular embodiment.

[0070] The configurations and arrangements of the systems and methods shown in the various exemplary aspects are illustrative only. While only a few aspects have been described in detail in this disclosure, numerous modifications are possible (e.g., variations in the size, dimensions, structure, shape, and proportions of various elements; parameter values; attachment methods; material use; color; orientation; etc.). For example, some elements shown as being integrally formed may be constructed from multiple parts or elements, element locations may be reversed or otherwise altered, and the nature or number of discrete elements or locations may be varied or changed. Accordingly, all such modifications are intended to be within the scope of this disclosure. The order of any process or method steps may be changed or reordered based on other aspects. Also, two or more steps may occur simultaneously or with partial concurrence. Such variations will depend on various factors, including the software and hardware systems selected, and designer choice. All such variations are within the scope of this disclosure. Similarly, software embodiments may be implemented using standard programming techniques involving rule-based logic and other logic to implement the various connecting, processing, comparing, and determining steps. Other substitutions, modifications, changes, and omissions to the design, operating conditions, and arrangements of the exemplary embodiments may also be made without departing from the scope of the present disclosure.

Claims

1. A robotic device; a cart coupled to the robotic device and including a body and a steering assembly coupled to the body; A surgical robot comprising: The steering assembly includes a first wheel and a second wheel; When the steering assembly is in a first mode, the steering assembly enables the cart to roll in a first linear direction; and When the steering assembly is in the second mode, the steering assembly enables the cart to roll in a second linear direction perpendicular to the first linear direction. like, configured to rotate the first wheel and the second wheel in opposite rotational directions to transition between the first mode and the second mode. Surgical robot.

2. The first wheel and the second wheel are mechanically coupled such that a user action that mechanically causes rotation of the first wheel in a first rotational direction causes the second wheel to rotate in a second rotational direction opposite to the first rotational direction; When the first mode is selected, the first wheel and the second wheel are parallel to a longitudinal axis of the cart; When the second mode is selected, the first wheel and the second wheel are perpendicular to the longitudinal axis of the cart. The surgical robot of claim 1.

3. The surgical robot of claim 1 , wherein when the third mode is selected, the first wheel and the second wheel are not parallel.

4. 10. The surgical robot of claim 1, wherein the steering assembly further comprises a motor configured to steer the first wheel.

5. 10. The surgical robot of claim 1, wherein the cart further comprises a motor configured to propel the cart.

6. 10. The surgical robot of claim 1, further comprising an input device configured to receive a command to change between the first mode and the second mode.

7. 3. The surgical robot of claim 2, wherein the cart further includes an additional wheel, the additional wheel freely rotating about a vertical axis associated with the additional wheel.

8. Body and a steering assembly coupled to the body and including a first wheel and a second wheel; A surgical cart comprising: The steering assembly includes: When the steering assembly is in a first mode, the steering assembly enables the surgical cart to roll in a first linear direction; and When the steering assembly is in the second mode, the steering assembly enables the surgical cart to roll in a second linear direction that is perpendicular to the first linear direction. like, configured to rotate the first wheel and the second wheel in opposite rotational directions to transition between the first mode and the second mode. Surgical cart.

9. the steering assembly is configured to allow the surgical cart to be rolled in a rotational direction by the steering assembly when the steering assembly is in a third mode; The steering assembly includes: the first wheel is parallel to the second wheel when the steering assembly is in the first mode and the second mode; and When the steering assembly is in the third mode, the first wheel is not parallel to the second wheel. It is configured as follows: The surgical cart of claim 8.

10. 10. The surgical cart of claim 9, further comprising a motor configured to steer the first wheel.

11. 10. The surgical cart of claim 8, further comprising a motor configured to propel the surgical cart.

12. 10. The surgical cart of claim 8, further comprising an input device configured to receive a command to change between the first mode and the second mode.

13. 13. The surgical cart of claim 12, wherein the input device is a handle on the steering assembly.

14. 13. The surgical cart of claim 12, further comprising a motor and a computing system, the computing system being programmed to cause the motor to transition the steering assembly between the first mode and the second mode in response to the command.

15. 1. A steering assembly for a surgical cart, comprising: An actuator; wheels coupled to the actuator, the wheels including a first wheel and a second wheel; Including, The actuator is configured to rotate the first wheel and the second wheel in opposite rotational directions to move the wheels between a first orientation that allows the wheels to roll the surgical cart in a first linear direction and a second orientation that allows the wheels to roll the surgical cart in a second linear direction perpendicular to the first linear direction. A steering assembly for a surgical cart.

16. 16. The steering assembly of claim 15, wherein the wheels are non-parallel in a third orientation configured to allow the surgical cart to roll in a rotational direction.

17. 17. The steering assembly of claim 16, wherein the wheels are parallel in the first orientation.

18. The steering assembly of claim 15 , wherein the actuator comprises an electric motor.

19. 16. The steering assembly of claim 15, wherein the actuator is further configured to move the wheel in a third orientation, and when the wheel is in the third orientation, the wheel enables the surgical cart to roll in a rotational direction.

20. 16. The steering assembly of claim 15, wherein the actuator is configured to move the wheels between the first orientation and the second orientation in response to commands from a computing system.

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