Locking casters for surgical systems with sensing

A method of interlocking a surgical console, the method comprising:

• detecting a position of a pedal that is coupled to a lock member of a caster assembly, wherein (i) movement of the pedal toward a locked position causes rotation of the lock member for engaging the lock member against a caster wheel to resist or prevent rotation of the caster wheel, and (ii) movement of the pedal toward an unlocked position causes rotation of the lock member for separating the lock member from the caster wheel to permit rotation of the caster wheel;
• and
• in response to the pedal being detected in the unlocked position, disabling the surgical console from controlling operation of a surgical robot;
• and
• in response to the pedal being detected in the locked position, enabling the surgical console to control operation of the surgical robot.

A caster assembly for use with a surgical console, the caster assembly comprising:

• a caster, comprising:
• a caster wheel configured for swiveling relative to the surgical console and for rotation relative to the surgical console independent of the swiveling;
• and
• a direction locking mechanism comprising a keyway that is rotatable to (i) a direction locked position for imparting resistance against the swiveling of the caster wheel relative to the surgical console, and to (ii) a direction unlocked position for permitting the swiveling of the caster wheel relative to the surgical console;
• a key extending between a first end portion and a second end portion, wherein the first end portion extends through the keyway of the direction locking mechanism of the caster;
• a first pedal rotatably coupled to the key, wherein the first pedal is movable (i) towards a first depressed position for rotating the key and the keyway toward the direction locked position in which the swiveling of the caster wheel is resisted, and (ii) towards a first released position for rotating the key and the keyway toward the direction unlocked position in which the rotation of the caster wheel is permitted;
• a lock member defining a first end portion and a second end portion, and the second end portion of the lock member being pivotable about the first end portion;
• a second pedal coupled to the second end portion of the lock member, wherein the second pedal is moveable independently of the first pedal (i) towards a second depressed position for rotating the lock member to engage the lock member against the caster wheel such that the rotation of the caster wheel is resisted, and (ii) towards a second released position for rotating the lock member to separate the lock member from the caster wheel such that the rotation of the caster wheel is permitted;
• and
• a position sensor disposed adjacent to the second pedal to detect a position of the second pedal and determine a rotational position of the lock member.