# US 2025/0083757 A1 · Retractable wheels for robotic surgical system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0083757 A1 - Document ID: US20250083757A1 - Status: Published application - Kind: A1 - Application number: 18/825,382 - Filed: 2024-09-05 - Published: 2025-03-13 - Earliest claimed: 2023-09-07 - Assignees: ForSight Robotics Ltd. - Applicants: ForSight Robotics Ltd. - Inventors: Dima RADCHENKO; Andrey DUMCHIN; Ofer ARNOLD - Web page: https://patentgrep.com/patent/US20250083757A1 ## CPC - B62D 61/12: with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels (for manoeuvring purposes only B60S) - A61B 34/30: Surgical robots - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract An apparatus includes a chassis, one or more robotic arms mounted to the chassis and configured to perform robotic surgery, multiple wheel units comprising respective wheels and configured to alternate the wheels between a lower position, in which the wheels support the chassis, and an upper position, and one or more legs connected to the chassis and configured to support the chassis while the wheels are in the upper position. Other embodiments are also described. ## Claims ### Claim 1 An apparatus, comprising: a chassis; one or more robotic arms mounted to the chassis and configured to perform robotic surgery; multiple wheel units comprising respective wheels and configured to alternate the wheels between a lower position, in which the wheels support the chassis, and an upper position; and one or more legs connected to the chassis and configured to support the chassis while the wheels are in the upper position. ### Claim 2 (depends on 1) The apparatus according to claim 1, wherein a maximum height of each of the wheel units from a base of the chassis is less than 15 cm. ### Claim 3 (depends on 1) The apparatus according to claim 1, wherein each of the wheel units further comprises a rotating element coupled to the wheel of the wheel unit from above and configured to rotate between a wheel-down orientation, in which the wheel is in the lower position, and a wheel-up orientation, in which the wheel is in the upper position. ### Claim 4 (depends on 3) The apparatus according to claim 3, wherein each of the wheel units further comprises a wheel-down sensor configured to output a wheel-down signal indicating whether the rotating element is in the wheel-down orientation. ### Claim 5 (depends on 3) The apparatus according to claim 3, wherein each of the wheel units further comprises a wheel-up sensor configured to output a wheel-up signal indicating whether the rotating element is in the wheel-up orientation. ### Claim 6 (depends on 3) The apparatus according to claim 3, wherein each of the wheel units further comprises a pivot coupled to the chassis, wherein the rotating element comprises a first portion, which is coupled to the wheel, and a second portion, and wherein the rotating element is coupled to the pivot between the first portion and the second portion, such that the rotating element is configured to rotate about the pivot. ### Claim 7 (depends on 6) The apparatus according to claim 6, wherein each of the wheel units further comprises: an axle; an eccentric element coupled eccentrically to the axle; and a motor coupled to the chassis and configured to rotate the axle so as to move the eccentric element between a supporting position, in which the eccentric element contacts the second portion of the rotating element so as to support the rotating element in the wheel-down orientation, and a non-supporting position, in which the eccentric element does not inhibit the rotating element from rotating to the wheel-up orientation. ### Claim 8 (depends on 7) The apparatus according to claim 7, wherein each of the wheel units further comprises a supporting-position sensor configured to output a higher-position signal indicating whether the eccentric element is in the supporting position. ### Claim 9 (depends on 7) The apparatus according to claim 7, wherein, in the supporting position, the eccentric element leans against the chassis. ### Claim 10 (depends on 6) The apparatus according to claim 6, wherein each of the wheel units further comprises at least one tension spring coupled between the second portion of the rotating element and the chassis and configured to pull down the second portion of the rotating element. ### Claim 11 (depends on 6) The apparatus according to claim 6, wherein each of the wheel units further comprises a lever coupled to the chassis and configured for rotation, by a user, so as to rotate the rotating element from the wheel-up orientation. ### Claim 12 (depends on 11) The apparatus according to claim 11, wherein each of the wheel units further comprises a tension spring coupled between the lever and the chassis and configured to pull the lever away from the rotating element. ### Claim 13 (depends on 11) The apparatus according to claim 11, wherein each of the wheel units further comprises a locking element coupled to the lever and configured to lock against the chassis such that the lever supports the rotating element following the rotation of the lever by the user. ### Claim 14 (depends on 13) The apparatus according to claim 13, wherein the chassis comprises a protrusion, and wherein the locking element is configured to lock against the chassis by fitting around the protrusion. ### Claim 15 (depends on 13) The apparatus according to claim 13, wherein each of the wheel units further comprises a release handle coupled to the locking element and configured for rotation, by the user, so as to release the locking element from the chassis. ### Claim 16 (depends on 13) The apparatus according to claim 13, wherein each of the wheel units further comprises a tension spring coupled between the locking element and the chassis and configured to facilitate the locking of the locking element against the chassis by pulling the locking element. ### Claim 17 (depends on 11) The apparatus according to claim 11, wherein the wheel-down orientation is a first wheel-down orientation, and wherein the lever is configured for rotation so as to rotate the rotating element from the wheel-up orientation to a second wheel-down orientation in which the wheel supports the chassis, the second portion of the rotating element being higher in the first wheel-down orientation than in the second wheel-down orientation. ### Claim 18 (depends on 17) The apparatus according to claim 17, wherein each of the wheel units further comprises one or more sensors configured to output respective signals, and wherein the apparatus further comprises a controller, configured to: receive the signals from the sensors, and based on the signals, identify a current orientation of the rotating element from a group of orientations consisting of: the wheel-up orientation, the first wheel-down orientation, and the second wheel-down orientation. ### Claim 19 (depends on 18) The apparatus according to claim 18, wherein the controller is further configured to rotate the rotating element to the first wheel-down orientation in response to ascertaining that the rotating element is in the second wheel-down orientation. ### Claim 20 (depends on 19) The apparatus according to claim 19, wherein each of the wheel units further comprises a locking element coupled to the lever and configured to lock against the chassis such that the lever supports the rotating element in the second wheel-down orientation, and wherein the controller is further configured to output an alert indicating a need to release the locking element, subsequently to rotating the rotating element to the first wheel-down orientation. ### Claim 21 An apparatus, comprising: a chassis; multiple wheel units comprising respective wheels and configured to alternate the wheels between a lower position, in which the wheels support the chassis, and an upper position, each of the wheel units further comprising a rotating element coupled to the wheel of the wheel unit from above and configured to rotate between a wheel-down orientation, in which the wheel is in the lower position, and a wheel-up orientation, in which the wheel is in the upper position; and one or more legs connected to the chassis and configured to support the chassis while the wheels are in the upper position.