In one embodiment of the invention, a steering system for mobile medical
equipment is disclosed including left and right steerable wheel
assemblies including left and right steerable wheels, left and right
parallelogram linkages coupled to the left and right steerable wheel
assemblies, a steering function generator coupled to the left and right
parallelogram linkages, and a steering tiller coupled to the steering
function generator. The left and right parallelogram linkages transfer
differing left and right wheel angles to the left and right steerable
wheel assemblies respectively. The steering function generator generates
the left wheel angle (LWA) of the left steerable wheel and the right
wheel angle (RWA) of the right steerable wheel. The steering tiller
receives an input steering angle to generate the left wheel angle and the
right wheel angle to control the direction of the mobile medical
equipment around flooring.