OMNI-DIRECTIONAL WHEELS FOR A ROBOTIC SURGICAL CART

1 . A robotic surgical cart ( 300 ) comprising:

a set of omni-directional wheels ( 425 ) affixed to a base plate ( 427 ), wherein each omni-directional wheel in the set of omni-directional wheels ( 425 ) comprises a hub ( 433 ), a plurality of roller mounting brackets ( 435 ) coupled to the hub ( 433 ), and a plurality of rollers ( 437 ) each rotatably coupled to at least one of the roller mounting brackets ( 435 );

at least one guiding shaft ( 429 ) affixed to the base plate ( 427 ), that provides a controlled channel for movement of the set of omni-directional wheels ( 425 ); and

an actuator ( 431 ) affixed to the base plate ( 427 ) at one end, defining an axis to provide upward and downward movement of the set of omni-directional wheels ( 425 ) in the channel provided by the at least one guiding shaft ( 429 ).

2 . The robotic surgical cart ( 300 ) as claimed in claim 1 , wherein the set of omni-directional wheels ( 425 ) are configured to move upward and downward within a range of 1 mm to 50 mm

3 . The robotic surgical cart ( 300 ) as claimed in claim 1 , wherein the set of omni-directional wheels ( 425 ) comprises four omni-directional wheels ( 425 a , 425 b , 425 c , 425 d ) with each of the omni-directional wheel ( 425 a , 425 b , 425 c , 425 d ) have another supportive omni-directional wheel attached such that two rows of omni-directional wheels are positioned on a wheel axle attached to the base plate ( 427 ).

4 . The robotic surgical cart ( 300 ) as claimed in claim 1 , wherein the plurality of rollers ( 437 ) are coupled to the hub ( 433 ) by roller mounting brackets ( 435 ) in fixed positions about an outer periphery of the hub ( 433 ) such that an axle of the plurality of rollers ( 437 ) are at a fixed angle in relation to the wheel axle.

5 . The robotic surgical cart ( 300 ) as claimed in claim 3 , wherein the omni-directional wheels ( 425 a , 425 b , 425 c , 425 d ) comprise of sixteen rollers set at a 90-degree angle to the wheel axle.

6 . The robotic surgical cart ( 300 ) as claimed in claim 1 , wherein the plurality of rollers ( 437 ) have a flexible ground contacting material made from an elastomer.

7 . The robotic surgical cart ( 300 ) as claimed in claim 1 , wherein the omni-directional wheels ( 425 ) supports the weight of the robotics surgical cart ( 300 ) such that the weight is transmitted through the wheel axle to the hub ( 433 ), then through the roller mounting bracket ( 435 ) to the plurality of rollers ( 437 ) which transmits the weight to core of the one or more roller ( 437 ) and through it to one or more rollers ( 437 ) whose surface is in contact with the ground, where the weight is applied to the ground.

8 . The robotic surgical cart ( 300 ) as claimed in claim 1 , wherein the base plate ( 427 ) is shaped in a fashion where the base plate ( 427 ) being a flat circular plate having portions ( 439 ) inwardly positioned at least 90 degrees from the fixed base plate ( 427 ) such that the set of omni-directional wheels ( 425 a , 425 b , 425 c , 425 d ) can be affixed to the portions ( 439 ) by means of various locking mechanisms.

9 . The robotic surgical cart ( 300 ) as claimed in claim 1 , wherein the at least one guiding shaft ( 429 ) is attached on one end to the base plate ( 427 ) with help of bushings ( 455 ) and further bolted thereon to the base plate ( 427 ).

10 . The robotic surgical cart ( 300 ) as claimed in claim 1 , wherein the actuator ( 431 ) comprises a housing ( 445 ) which include an electric motor mechanically connected to rotate a lead screw, wherein the lead screw comprises a continuous helical thread machined on its circumference running along its length and a lead nut is threaded onto the lead screw with corresponding helical threads.