The robotic surgical cart ( 300 ) comprises a set of omni-directional wheels ( 425 ) affixed to a base plate ( 427 ). Each omni-directional wheel in the set of omni-directional wheels ( 425 ) comprises a hub ( 433 ), a plurality of roller mounting brackets ( 435 ) coupled to the hub ( 433 ), and a plurality of rollers ( 437 ) each rotatably