Multi-level delivery systems and various apparatus associated therewith are presented. Multi-level delivery systems include a number of integrated, modular and interchangeable compactible elements that may work either alone or in conjunction with other such elements to allow for the deployment of a delivery system having a smaller overall spatial footprint when compared to comparable conventional delivery systems. Apparatus combining to form a delivery system may include one or more of: a compactible container cart, a compactible cart hauler or trailer, a propulsion means, and/or a maneuverability means. These elements or apparatus may be deployed in any combination, either together as an integrated system or with compatible conventional apparatus. In combination, delivery systems maximize space efficiency, and allow for adaption to any environment and scale.

An omnidirectional wheel includes a hub and a number of driven wheels. The hub defines a number of mounting grooves. Each mounting groove includes an axle provided therein. Each driven wheel includes a driven roller and a cover layer. Each of two ends of the driven roller defines a fixing hole. Each of the two holes receives the axle. The cover layer is sleeved on an outer side of the driven roller.

A spherical body drive type movement device 10 includes rotary bodies 14, 15, and 16 rotating n number of driving spherical bodies 11, 12, and 13 by being rotationally driven in a state of being in contact from two different directions with each of the driving spherical bodies 11, 12, and 13, and moves on a traveling surface G. The rotary bodies 14, 15, and 16 come into contact with the driving spherical bodies 11, 12, and 13 at positions higher than centers P1, P2, and P3 of the driving spherical bodies 11, 12, and 13 in contact and inside a virtual inverted n-gonal pyramid H or, at positions higher than the centers P1, P2, and P3 of the driving spherical bodies 11, 12, and 13 in contact and on lateral faces α, β, and γ of the virtual inverted n-gonal pyramid H.

A mobile object is configured so as to be capable of moving front and rear bases 10,30 object to each other in order to make a wheel base provided between the front wheels 12 and the rear wheels 32 expandable and contractible. The front base 10 moves so as to be expand and contract the tread width between the front wheels 12 in association with the expansion and the contraction of the wheel base achieved. The seating part 41 is configured so as to turn forward in association with the relative movement of the front and rear bases 10,30 in order to contract the wheel base and the tread width. The seating part 41 is configured so as to turn backward in association with the relative movement of the front and rear bases 10,30 in order to expand the wheel base and the tread width.

Methods and systems are provided for controlling movement of a mobile medical device drive platform. In one example, a mobile platform includes a chassis configured to house one or more medical devices, an omnidirectional wheel system including an omnidirectional wheel coupled to the chassis, a battery housed in the chassis, the battery configured to supply power to drive the omnidirectional wheel system and/or supply power to operate the one or more medical devices, and a battery charging system housed in the chassis, where the battery charging system is configured to facilitate wired and/or wireless charging of the battery.

A running wheel for a patient positioning device (30) is provided. The running wheel has a wheel (1) and a receiving device (4) for rotatably receiving the wheel (1) around a first rotational axis (5), which is arranged centrally with respect to a circumference of the wheel (1). The wheel (1) has a wheel body (3), and multiple circumferential castors (7), each having a second rotational axis (8) arranged in a direction tangential to a circumference of the wheel (1), wherein the circumferential castors (7) form a bearing surface of the wheel (1).

The invention involves a system and method for controlling the movements of a multi-axis robot to perform a surgery at least on the spinal area of a human in vivo. The system includes controls and software coding to cause the robot to move in desired patterns to complete the surgery, which may include bone, disc and tissue removal, and may also include insertion of hardware for fusing adjacent bony structures.

An unmanned ground-based transport vehicle, UGV, includes a housing, having a base plate and at least one housing side wall substantially perpendicular to the base plate. Arranged in the housing is at least one wheel drive, which is coupled to at least one wheel. The wheel is arranged in a recess in the base plate. The UGV further includes sensors for sensing the environment of the UGV, and a controller for autonomous location and navigation of the UGV on the basis of sensing parameters of the sensors. The UGV includes at least one load-receiving element coupled to the housing side wall and extending outwards from the housing side wall, wherein the load-receiving element includes a load support surface for supporting an item with respect to a vertical direction which extends transverse to the base plate.

A wheel structure with a built-in reducer and motor is provided. As the driving wheel in a rudder wheel, which has a high degree of integration and significantly reduces the overall height of the rudder wheel while maintaining high speed and acceleration. The wheel structure includes a wheel coupled to a reducer, a drive motor connected to the reducer, and the reducer.

The improved mobile robot utilizes a cooperative wheeled support arrangement having a unique axle design that preferably cooperates with a base support module. A tri-axle is preferably used to support at least one omni-wheel on each axle section. Multiple omni-wheels on each section can be used for higher load applications. The tri-axle is of a fixed design and each wheel pivots on the individual axle section. Preferably, the axle sections are welded to each other.