Methods of steering heavy mobile medical equipment

A method for steering mobile medical equipment having four wheels, the method comprising

• supporting medical equipment with a base above a floor over which a left steerable wheel, a right steerable wheel, and a pair of front motorized wheels roll;
• receiving an input steering angle other than zero;
• linearly sweeping a long link in response to the input steering angle,
• pivoting a pair of short links in response to the linearly sweeping of the long link;
• pivoting a pair of cam plates in response to the pivoting of the pair of short links;
• positioning the left steerable wheel with a left wheel assembly at a left wheel angle in response to the pivoting of one of the pair of cam plates;
• positioning the right steerable wheel with a right wheel assembly at a right wheel angle in response to the pivoting of another one of the pair of cam plates;
• and
• limiting the generating of the left wheel angle and the right wheel angle to avoid radius turns of substantially zero and avoid driving a first motorized wheel of the pair of front motorized wheels in one direction of rotation while concurrently driving a second motorized wheel of the pair of front motorized wheels in an opposite direction of rotation.