Motor assembly

Abstract

A motor assembly is disclosed that includes a motor, a rotor, and a cycloid drive element, and a transmission element. The rotor is configured to be controllably driven in rotation. The rotor is coupled with an output shaft of the motor to rotate the output shaft about an axis of rotation. The cycloid drive element is coupled with the output shaft. The cycloid drive element has a first cycloid feature disposed on a first side of the cycloid drive element and a second cycloid feature disposed on a second side of the cycloid drive element opposite the first side. The transmission element configured to drive an ultrasound control dial or other machine control element, e.g., of a machine controlled ultrasound probe positioning system or a machine controlled cardiovascular interventional system.

Description

LAZA.038WO PATENT TRANSESOPHAGEAL ECHOCARDIOGRAPHY PROBE HANDLE, CYCLOID MOTOR, AND CONTROL METHODS INCORPORATION BY REFERENCE TO ANY PRIORITY APPLICATIONS

[0001] Any and all applications for which a foreign or domestic priority claim is identified in the Application Data Sheet as filed with the present application are hereby incorporated by reference under 37 CFR 1.57. The present application claims priority to U.S. Patent Application 63 / 637634, filed on April 23, 2024, titled TRANSESOPHAGEAL ECHOCARDIOGRAPHY PROBE HANDLE TOR SENSOR AND CONTROL METHODS, the disclosure of which is hereby incorporated by reference in its entirety as if fully set forth herein. The benefit of priority is claimed under the appropriate legal basis including, without limitation, under 35 U.S.C. § 119(e). BACKGROUND Field of the Invention

[0002] The disclosure relates, in general, to robotic and other tools for use in medical imaging, modeling, and medical procedure support. Description of the Related Art

[0003] Medical imaging has advanced significantly in recent years with the introduction of new imaging modalities and vast improvements in computing power. Transesophageal echocardiography (TEE) is one specialized application of the use of ultrasound for imaging anatomical bodies from within the esophagus. Clinicians widely use imaging tools such as TEE for diagnosis, assessment, treatment planning, intraoperative guidance, and more.

[0004] However, existing imaging systems have significant limitations even with the recent advances. Echocardiography, for example, produces images which require a high degree of skill to interpret. Moreover, even skilled clinicians typically take considerable time to position the ultrasound transducer to optimize the images produced. Although the images can be in real-time, they are fixed inasmuch as the images are taken in a single location. The clinician must go through the tedious and difficult process of repositioning the transducer to image different anatomical structures or even different angles of the same structure.

[0005] Many interventionalist procedures performed on cardiac anatomy require the presence of an imaging specialist, known as an echocardiographer, which necessitates tight coordination and communication between an interventionalist and the echocardiographer. This can lead to increased crowding, noise, and cost during cath-lab procedures. Furthermore, many interventionalists will only work with select echocardiographers and will only schedule operations when these echocardiographers are available. This can lead to scheduling conflicts, delayed procedures, and other issues. SUMMARY

[0006] The embodiments disclosed herein each have several aspects no single one of which is solely responsible for the disclosure’s desirable attributes. Without limiting the scope of this disclosure, its more prominent features will now be briefly discussed. After considering this discussion, and particularly after reading the section entitled. “Detailed Description” one will understand how the features of the embodiments described herein provide advantages to echocardiographic medical imaging devices.

[0007] Systems and methods are described herein for use of echocardiographic medical imaging devices. The systems and methods provide compact motor assemblies that provide torque output for control dials and other machine controlled elements of a robotic system. In some cases, the systems herein use high gear ratio structures such as cycloids but still also provide direct conversion to a concentric output, which contributes to efficiency and compactness of the design. Also, the systems avoid losses in converting output shaft rotational axis position, as is common in cycloid drives. The configurations disclosed herein are highly compact allowing, which is good for applications mounting to handle structures of TEE probes without making the probe handle unwieldy. Further, some embodiments employ output encoders which enable more precise control of the output shaft or torque, which can be critical for controlling a TEE probe tip. The motor assemblies provide multiple advantages in that they are dual stage, eliminate output conversion, and are highly compact.

[0008] In one embodiment, a motor assembly is provided that includes a motor, a rotor, and a cycloid drive element, and a transmission element. The rotor is configured to be controllably driven in rotation. The rotor is coupled with an output shaft of the motor to rotate the output shaft about an axis of rotation. The cycloid drive element is coupled with the output shaft. The cycloid drive element has a first cycloid feature disposed on a first side of thecycloid drive element. The first cycloid feature has a first gear ratio. The cycloid drive element has a second cycloid feature disposed on a second side of the cycloid drive element opposite the first side. The second side has a second gear ratio. The transmission element configured to drive an ultrasound control dial or other machine control element.

[0009] The transmission element can drive a robotic linkage. The transmission element can include a wire or other load transfer member to convey torque from the motor assembly to a control dial or other force transfer element.

[0010] In one variation, a counterweight is disposed on the first side of the cycloid drive element. The counterweight has a disk member having a first arcuate portion and a second arcuate portion disposed opposite to the first arcuate portion, the first arcuate portion has less mass than the second arcuate portion. In further embodiments, a second counterweight is disposed on the second side of the cycloid drive element. The second counterweight disposed on the second side of the cycloid drive can further include an arcuate mass. The arcuate mass of the second counterweight can be rotationally aligned with a higher mass portion of the first counterweight disposed on the first side of the cycloid drive.

[0011] In some variations, the cycloid drive element has a sinusoidal periphery. The sinusoidal periphery can have flat apices on each love facing away from an axis of rotation of the cycloid drive element. The sinusoidal periphery can be configured to engage a bearing element and the flat apices can be configured to be spaced from the bearing element by a gap when the flat apices are aligned with a radius extending from the axis of rotation to a geometric center of the bearing element.

[0012] In some embodiments, a first axis of rotation and the cycloid drive element coupled with the output shaft is configured to drive the transmission element about a second axis of rotation. The second axis of rotation preferably is aligned with the first axis of rotation.

[0013] In some applications, a housing is configured to enclose the motor and the transmission element between a top side and a bottom side. The top side of the housing can be configured to be at or below an elevation of a top surface of a control dial of a TEE probe when the bottom surface of the housing is coupled to a body of the handle of the TEE probe.

[0014] In some applications, a first encoder is coupled with the output shaft of the motor and a second encoder is coupled with the transmission element, the second encoder providing a signal indicative of rotational position of the ultrasound control dial.

[0015] In some embodiments, a motor assembly is provided including a motor, a transmission element, a transmission wire, and a tensioner. The motor includes an output shaft. The transmission element is operatively coupled to the output shaft and includes a groove extending inward from an outer periphery of the transmission element. The transmission wire extends along the groove of the transmission element and is configured to couple to a control surface. The tensioner is in mechanical communication with the transmission wire and configured to bias the transmission wire toward an enhanced tension state.

[0016] In some applications, the motor further includes a cycloid drive element coupled with the output shaft, the cycloid drive element having a first cycloid feature disposed on a first side of the cycloid drive element having a first gear ratio, the cycloid drive element having a second cycloid feature disposed on a second side of the cycloid drive element opposite the first side, the second side having a second gear ratio.

[0017] In some applications, the tensioner includes a slot, a shaft, a groove, and a spring. The slot is oriented radially to transmission element and includes a first end and a second end. The shaftis disposed within the slot, is positioned between the transmission wire and the transmission element, and is configured to translate between the first end and the second end. The groove is oriented orthogonal to the slot. The spring extends along the groove and is positioned between the shaft and the transmission element. The spring is configured to bias the shaft toward an enhanced tension state. In some applications, the transmission wire extends from the groove of the transmission element to the tensioner and back to the groove of the transmission element.

[0018] In some applications, the transmission wire is a flexible body extending between a first end and a second end. The transmission wire includes a first loop and a second loop. The first loop extends through the groove around the transmission element and the tensioner. The second loop is configured to engage the control surface. In some applications, the first loop includes one or more revolutions extending around the transmission element. In some applications, the second loop includes one or more revolutions extending around the control surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] FIG. 1 is a side view of a TEE probe assembly according to one embodiment;

[0020] FIG. 2A is a perspective view of a modified TEE probe handle of a probe system having one or more integrated motor controllers;

[0021] FIG.2B is a cross-sectional view of the TEE probe handle of FIG. 2A;

[0022] FIG. 2C is a top view of a motorized cradle for receiving the TEE probe handle of FIG. 1.

[0023] FIG. 3A is a cross-sectional view of one embodiment of a motor assembly including drive train components;

[0024] FIG.3B is an exploded view of the motor assembly shown in FIG.3A;

[0025] FIG.3C is an enlarged view of a portion of the motor assembly 400 seen in FIG.3B;

[0026] FIG.3D is a cross-sectional view of the components shown in FIG.3B;

[0027] FIG.3E is a cross-sectional view of a cycloid drive element;

[0028] FIG.3F is a view of a portion of the cycloid drive element in a first position;

[0029] FIG. 3G is a view of a portion of the cycloid drive element in a second position;

[0030] FIG. 4A is a view of a top portion of the cycloid drive element and the second counterweight in a first position;

[0031] FIG. 4B is a view of a top portion of the cycloid drive element and the second counterweight in a second position;

[0032] FIG. 5A is a perspective view of the motor assembly of FIG. 3A with a transmission element.

[0033] FIG.5B is a top view of the motor assembly with the transmission element of FIG.5A.

[0034] FIG. 5C is a cross-sectional view of motor assembly with the transmission element of FIG.5B.

[0035] FIG.5D is a perspective view of the transmission element of FIG.5A with an output of the motor assembly of FIG.3A.

[0036] FIG. 5E is a top view of the transmission element with the output of the motor assembly of FIG. 5D.

[0037] FIG. 5F is a perspective view of the output of the motor assembly of FIG. 5D with a tensioner for tensioning the transmission element.

[0038] FIG. 5G is a cross-sectional view of a motor assembly with the output and tensioner of FIG.5F.

[0039] FIG. 6 is a top perspective view of the handle of the probe system with a cover removed. DETAILED DESCRIPTION

[0040] Reference will now be made in detail to the preferred embodiments of the disclosure, examples of which are illustrated in the accompanying drawings. While the disclosure will describe preferred embodiments, it will be understood that they are not intended to limit the disclosure to those embodiments. On the contrary, the disclosure is intended to cover alternatives, modifications, and equivalents, which may be included within the spirit and scope of the invention as defined by the appended claims.

[0041] For convenience in explanation and accurate definition in the appended claims, the terms “up” or “upper”, “down” or “lower”, “inside” and “outside” are used to describe features of the present disclosure with reference to the positions of such features as displayed in the figures. Accordingly, the following definitions will be used: a “midline” means a reference line down the longitudinal or central axis of a body or a procedural table; “up” or “upper” means a superior position located toward the head end of a body or a procedural table; “down” or “lower” means an inferior position located away from the head end of a body or a procedural table; “inside” means a medial position located towards a longitudinal or central axis of a body or a procedural table; “outside” means a lateral position located away from the longitudinal or central axis of a body or a procedural table.

[0042] In many respects, the modifications of the various figures resemble those of preceding modifications and the same reference numerals followed by subscripts “A”, “B”, “C”, and “D” designate corresponding parts.

[0043] FIG.1 shows one embodiment of a probe system 100 that can be used with a TEE ultrasound console. The probe system 100 includes a handle 104, an electrical interface 108, and a cable 112 coupling the handle 104 to the electrical interface 108. The electrical interface 108 is configured to electrically connect the cable 112 with an ultrasound console configured to operate the probe system 100. The probe system 100 also includes a flexible shaft 120 extending distally of the handle 104 to a tip 116. The tip 116 has an ultrasound transducer disposed thereon. The ultrasound transducer is configured to capture imaginginformation from a remote site, e.g., from a heart of the patient. The imaging information is transmitted through the flexible shaft 120 and the handle 104 to the cable 112 and through the tip 116 to the console.

[0044] The tip 116 is articulated by one or more controller disposed on the handle 104. In one embodiment a first control knob 132 is provided on the handle 104. The term “knob” can be a rotatable mechanism for adjusting or controlling one or more degrees freedom of the TEE probe or the probe system 100. The first control knob 132 can be manually manipulated. In various embodiments, the first control knob 132 can be configured to be articulated at least in part by a motor disposed on the handle 104. The handle 104 can also have a second control knob 136 disposed thereon. Movement of the first control knob 132 can cause movement of the tip 116, e.g., anterior and posterior deflection or left and right lateral motion. Movement of the second control knob 136 can cause movement of the tip 116, e.g., anterior and posterior deflection or left and right lateral motion.

[0045] While manual motion is convenient in certain settings, this application also discloses the use of one or more motors to control, at least partially, the movement of the tip 116 by providing a suitable input to one or both of the first control knob 132 and the second control knob 136. FIGS. 2A and 2B illustrate various embodiments of a probe system 100A in which a compact motor assembly including a first motor 180 and a second motor 180a are coupled with a handle 104A to provide some degree of motor control of the position of the first control knob 132A and the second control knob 136A of the handle 104A. The first control knob 132A includes an engagement surface 144 which can be coupled with a transmission wire 188 (see FIGS. 5A-6) configured to couple to the first motor 180. The first motor 180 and the second motor 180a can be housed within a cover 160 coupled to the body of the handle 104A. The cover 160 can be coupled at one end by placing a lower engagement surface 164 over a protrusion 140 of the body of the handle 104A.

[0046] In some embodiments, the protrusion 140 can be a locking mechanism for preventing movement of the tip 116. The locking mechanism can be configured to selectively transition the handle 104A between a locked state and an unlocked state. In some embodiments, the locking mechanism can be referred to as a pose-locking mechanism configured to lock the pose or orientation and configuration of the flexible shaft. In some embodiments, the protrusion 140 can be a lever configured to pivot between a first positionand a second position. In some embodiments, the protrusion 140 may be configured to axially translate between a first position and a second position. The first position can correspond to the locked state and the second position can correspond to the unlocked state. In the locked state, the locking mechanism may prevent the tip 116 from moving. For example, in the locked state one or more internal mechanisms of the handle 104A may be prevented from moving such that motion of the first control knob 132A and the second control knob 136A is not transmitted through the flexible shaft 120. In contrast, the shaft 120 can be manipulated in the unlocked state to orient the tip 116 to a desired position. Accordingly, the protrusion 140 can transition from the unlocked state to the locked state to fix the tip 116 in place.

[0047] The cover 160 can be coupled by placing an upper engagement surface 162 over a portion of the first control knob 132A (ultrasound control dial). The cover 160 can be coupled to the body of the handle 104A by a securement element 168, which can include a flexible clip configured to slide over a distal tapered surface of the handle 104A. The cover 160 may engage the protrusion 140. In some examples, the cover 160 may secure the protrusion 140 in the first position and / or in the second position. For example, the cover 160 may secure the protrusion 140 in the second position.

[0048] The foregoing description of the handle 104A is clarified by FIG.2B, which shows the first motor 180 being disposed close to the first control knob 132A and the second control knob 132B. The first motor 180 is disposed between the control knobs and the second motor 180a. The second motor 180a is disposed distal of the first motor 180. The second motor 180a disposed closer to a distal end of the handle 104A than is the first motor 180. The first motor 180 is disposed closer to the proximal end of the handle 104A than is the second motor 180a. Although the transmission wire 188 is shown extending from the first motor 180 to the first control knob 132A, another transmission wire can be provided to couple the output of the second motor 180a with the second control knob 136A. FIG. 2B shows that the first motor 180 and the second motor 180a can be very compact in a radial direction relative to the handle 104A along with the first control knob 132A, and the second control knob 136A. The first motor 180 and the second motor 180a can have a housing (discussed further below in connection with one example embodiment) that includes a bottom surface configured to be supported at or near the body of the handle 104A and a top surface opposite to the bottom surface. In some examples, the first motor 180 and the second motor 180a can share a commonhousing. In some examples, the first motor 180 and the second motor 180a can have separate housings. The top surfaces of the first motor 180 and the second motor 180a can be below a plane that intersects the top of the first control knob 132A and that is disposed transverse, e.g., perpendicular, to the axis of rotation of the first control knob 132A. The axis of rotation of the first control knob 132A is generally perpendicular to the longitudinal axis of the body of the handle 104A. These compact dimensions of the first motor 180 and the second motor 180a can be provided in any various ways. In one approach described in connection with FIGS.3A- 3G, a compact arrangement is provided by employing a particular sort of cycloid powertrain or transmission.

[0049] FIG.2C illustrates a cross-sectional elevation view of an unmodified handle described above. The handle 104 can include one of more control knobs. For example, the handle 104 can include the first control knob 132, the second control knob 136, and the drive train for interactive control of the knobs or of the probe. In some embodiments, the handle 104 can be placed within a cover 160a. The cover 160a can be a cradle configured to receive and robotically operate the unmodified handle. The cover 160a can include the one more motors described herein with reference to FIG. 3A-5G and one or more adapter elements for receiving and transmitting rotational motion to the first control knob 132 and the second control knob 136. In some embodiments, the one or more adapter elements can be one or more engagement surfaces 162A.

[0050] As described herein with reference to FIG.2B, the one or more motors can include the first motor 180A and the second motor 180B. Each of the one or more motors may further include one or more encoders. The one or more encoders may be used to determine rotational parameters of the one or more motors.

[0051] The one or more engagement surfaces 162A can be configured to engage one of the first control knob 132A or the second control knob 136A. The engagement surfaces 162A can include an inner surface and an outer surface. The inner surface can be configured to receive and engage a corresponding control knob. The outer surface can be configured to receive a rotational input from the one or more motors. In some embodiments, the outer surface can include a slot extending radially inward from the outer circumference. In some embodiments, the cable and / or pulley system engages the engagement surface 162A. Accordingly, the rotary output of the first motor 180A and the second motor 180B may beoperatively coupled to the one or more control knobs via the one or more engagement surfaces 162A. For example, the first motor 180A may drive the first control knob 132 via a driven cable and pulley system about one of the one or more engagement surfaces 162A coupled to the first control knob 132 and the second motor 180B may drive the second control knob136 via another one of the one or more engagement surfaces 162A coupled to the second control knob 136, or vice versa. Orienting the one or more motors in different orientations may advantageously position the outputs of the one or more motors at a position corresponding to an input of the one or more control knobs. Accordingly, the cover 160a can be part of a drive interface for robotically operating a TEE probe.

[0052] FIG.3A shows a cross-sectional view of a motor assembly 400. The motor assembly 400 includes a flex cable 402 configured to electrically couple the motor assembly 400 with a controller, which is generally located outside the motor assembly 400. The motor assembly 400 includes a housing that can have various sections. In one form, a housing component 406A is provided that is generally at the bottom of the motor assembly 400. The housing component 406A can be located adjacent to or facing the body of the 140a when the motor assembly 400 is coupled thereto. The housing component 406A can be coupled with a housing component 406B which can be located above the housing component 406A. The housing component 406A and the housing component 406B can combine to form a space in which a motor 404 is housed. The motor 404 can be any sort of motor, but in one embodiment the motor 404 is a brushless DC motor that rotates a rotor 408 disposed in an inner cylindrical space of the motor 404. The housing can include a housing component 406C that is disposed above the housing component 406B and a housing component 406D disposed above the housing component 406C. The housing component 406D can form the top surface of the housing of the motor assembly 400. The housing can have various apertures allowing components of the motor assembly 400 or the transmission wire 188 to extend from inside the housing to outside the housing.

[0053] The rotor 408 of the motor 404 can be coupled with a output shaft 412 to rotate along with the rotor. The axis of rotation of the output shaft 412 can be a first axis of rotation 488A of the motor assembly 400. The output shaft 412 can be supported by one or more ball bearings located between one end of the output shaft 412 and the housing component 406A. The output shaft 412 can extend from the space defined within the housing component406A and the housing component 406B to a space defined within the housing component 406C. The output shaft 412 can have a first counterweight 416 coupled with a portion thereof located adjacent to the bearings in the housing component 406B. The first counterweight 416 can include a disk member 417 that extends outward relative to the axis of rotation of the output shaft 412. The disk member 417 can have a first arcuate portion 418A and a second arcuate portion 418B. The first arcuate portion 418A can have less mass than the second arcuate portion 418B. The lesser mass of the first arcuate portion 418A can be provided by removing one or more volumes of material from the disk member 417. The greater mass of the second arcuate portion 418B can be provided by adding mass to that portion compared to the mass of the first arcuate portion 418A. The first counterweight 416 can be provided to counter vibrations generated by the eccentric motion of a cycloid drive element 440 of the motor assembly 400 and discussed further below.

[0054] A second counterweight 420 can also be coupled to the output shaft 412. The second counterweight 420 can be disposed at an elevation above the first counterweight 416. The second counterweight 420 can include an arcuate mass 422, which can be aligned with a higher mass portion of the first counterweight 416, e.g., with the second arcuate portion 418B. The second counterweight 420 can include a ring member configured to be disposed around a length of the output shaft 412, the arcuate mass 422, and a cylindrical projection extending from the ring member in a downward direction (in the reference frame of FIG.3A). The cylindrical projection is opposed to the arcuate mass 422, e.g., disposed on an arc segment of the ring member opposite to an arc segment of the arcuate mass 422. The arcuate mass 422 can be configured to oppose and counter, e.g., reduce or cancel vibrations caused by the eccentric motion of the cycloid drive element 440 as discussed further below.

[0055] Eccentric bearings 424 are mounted to an outside surface of the output shaft 412. The eccentric bearing 424 is disposed between the outside surface of the output shaft 412 and an inner surface of the cycloid drive element 440. The eccentric bearing 424 provides for eccentric motion of a first cycloid drive feature 444A as supported by first peripheral bearings 456. The first cycloid drive feature 444A is disposed on a first side 442A of the cycloid drive element 440 as seen in FIGS. 3C and 3E. The first cycloid drive feature 444A includes sinusoidal periphery that rolls over an outer portion of ball bearings supported by the housing component 406A. The pattern of the sinusoidal periphery, sometimes called lobes, can definea gear ratio provided by the first cycloid drive feature 444A. The gear ratio can be 9 to 1. Other gear ratios could be provided, e.g., lower ratios like 8 to 1, 7 to 1, 6 to 1, 5 to 1, 5 to 1, 3 to 1, or higher ratios, such as 10 to 1, 11 to 1, 12 to 1, 13 to 1, 14 to 1, 15 to 1 and other ratios.

[0056] The cycloid drive element 440 preferably also has a second cycloid drive feature 444B. The second cycloid drive feature 444B can be located on a second side 442B of the cycloid drive element 440. The second cycloid drive feature 444B can include a sinusoidal periphery 448. The sinusoidal periphery 448 can have a number of lobes, or peaks, that can also provide a cycloid drive behavior. In one embodiment, the motion of the cycloid drive element 440 is guided by second peripheral bearings 458. The second peripheral bearings 458 can include bushings that are disposed around pins. Motion of the second cycloid drive feature 444B on the bushings causes the bushings to roll within the housing component 406C. More specifically, the housing component 406C defines an inner wall that acts as a track for allowing the rolling of the bushings coupled with the pins. The interaction of the second cycloid drive feature 444B and the bushings is discussed in greater detail in connection with FIGS. 3F and 3G as well as in connection with FIGS.4A and 4B.

[0057] The peripheral bearing elements engaged with the second cycloid drive feature 444B include pins that extend into recesses formed in a transmission element 480 disposed generally above the cycloid drive element 440. The transmission element 480 includes a profiled disk member that has a bottom surface and a top surface. In some examples, the transmission element 480 can be an output pulley of the first motor 180. For example, the transmission element 480 can be configured to rotate in response to a rotation of the gearbox output shaft 482. Accordingly, the transmission element 480 may be a driven pulley configured to provide a rotational output onto a transmission wire 188 as described in greater detail herein with reference to FIGS. 5A-6. The recesses for receiving the pins of the peripheral bearing elements are disposed on the bottom surface of the transmission element 480. The bottom surface also includes a recess that receives a bearing 481A to provide low friction motion of the transmission element 480 relative to the output shaft 412. The bearing recess can also be tapered to allow the second counterweight 420 to be at least partially recessed within the vertical height of the transmission element 480 to improve compactness of the motor assembly 400. The transmission element 480 can be coupled with a gearbox output shaft 482. Thegearbox output shaft 482 can be supported on bearings mounted in an inner passage of the output shaft 412. The gearbox output shaft 482 and the output shaft 412 can be axially overlapping which also provides a compact arrangement of the motor assembly 400. The transmission element 480 can have a top surface that is profiled to include a channel in which a bearing member 481B can be disposed to space at least part of the transmission element 480 from the housing component 406C and the housing component 406D. The bearing member 481B between the transmission element 480 and the housing component 406D can be a ring- shaped bushing or a ball bearing assembly in different embodiments.

[0058] The gear ratio provided by the second cycloid drive feature 444B can be 9 to 1. Other gear ratios could be provided, e.g., lower ratios like 8 to 1, 7 to 1, 6 to 1, 5 to 1, 5 to 1, 3 to 1, or higher ratios, such as 10 to 1, 11 to 1, 12 to 1, 13 to 1, 14 to 1, 15 to 1 and other ratios. Overall, the cycloid drive element 440 can provide a total gear ratio for the two stages of 81:1. Any other total gear ratio provided by combining the ratios of the first cycloid drive feature 444A and the second cycloid drive feature 444B can be provided by combining any of the stage ratios disclosed herein.

[0059] The transmission element 480 can be configured to provide output torque. The transmission element 480 can have a groove 484 that extends inward from an outer periphery of the transmission element 480. The groove 484 can include grooves that allow a thin wire that has a diameter much less than the vertical height of the groove 484 to be securely located in the groove 484. The groove 484 can have a plurality of grooves, e.g., two, three, four or more than four grooves. The transmission wire 188 can have a diameter that is less than 1 / 2 the height of the groove 484, less than 1 / 3 the height of the groove 484, or less than 1 / 4 the height of the groove 484 in various embodiments. FIGS. 3B and 6 show that the housing component 406C can have an elongate opening that allows the first motor 180 to be threaded into and out of the motor assembly 400 to allow the torque output by the transmission element 480 to be transmitted to the first control knob 132A.

[0060] Motion of the second cycloid drive feature 444B relative to the peripheral bearings is better understood in connection with FIGS. 3F and 3G. FIG. 3F shows a position of the sinusoidal periphery 448 where a higher generally circumferential load is applied by the first cycloid drive feature 444A to the second peripheral bearings 458. In this position, the motion of the cycloid drive element 440 pushes circumferentially on the second peripheralbearings 458 and causes circumferential motion of the second peripheral bearings 458 within the housing component 406C. The circumferential motion of the second peripheral bearings 458 causes rotation of the transmission element 480 because the pins of the second peripheral bearings 458 are disposed in recesses of the transmission element 480. Rotation of the transmission element 480 is about a second axis of rotation 488B. As the second peripheral bearings 458 move circumferentially, the pins move the periphery of the transmission element 480 circumferentially. This corresponds to rotation of the transmission element 480 and the gearbox output shaft 482 coupled therewith. Because of the two-stage arrangement, the motor assembly 400 employs a cycloid drive element but is able to provide rotation of the transmission element 480 about an axis that is aligned with the axis of rotation of output shaft 412. Typically, cycloidal drive elements have eccentric outputs and require a conversion element to align the output axis of rotation with the motor output shaft axis of rotation. By 000eliminating this requirement, greater efficiency is provided in the motor assembly 400.

[0061] The cycloid drive element 440 also can have a feature that mitigates issues related to possible mechanical interference. The cycloid drive element 440 includes a truncated lobe configuration. Flat apices 452 are provided on some or in some cases on all of the lobes of the sinusoidal periphery 448. The flat apices 452 allow a gap 460 (see FIG. 3G) to be present between the cycloid drive element 440 and the second peripheral bearings 458 when the flat apices 452 is aligned with a radial direction, e.g., an axis connection the center of rotation of the second peripheral bearings 458 and the axis of rotation of the output shaft 412. The flat apices 452 can be aligned with an axis, e.g., a radius, extending from a geometric center of the second peripheral bearing 458. As a result, at the point of nearest approach, there can be a nominal condition of no contact between the cycloid drive element 440 and the second peripheral bearings 458. This configuration does not sacrifice output torque because the force applied by the cycloid drive element 440 to the second peripheral bearings 458, and thereby to the transmission element 480, is least when the apices are aligned with the axis connection the center of rotation of the second peripheral bearings 458 and the axis of rotation of the output shaft 412.

[0062] FIGS. 4A and 4B show the motion of the cycloid drive element 440 in the housing in further detail. FIG.4A shows the cycloid drive element 440 shifted toward the right side of the housing component 406C in which the second cycloid drive feature 444B resides.The second peripheral bearings 458 on the right-hand side of the figure are subject to greater load as the rising edges engage the second peripheral bearings 458. The second peripheral bearings 458 at roughly 8 and 9 o’clock have little or even no interaction with the cycloid drive element 440, with the gap 460 being present between the flat apices 452 and the second peripheral bearings 458. The arcuate mass 422 of the second counterweight 420 is seen generally between the gap 460 and the axis of rotation of the output shaft 412. In FIG.4B, the opposite is seen where the gap 460 on the left-hand side of the figure are subject to greater load and the gap 460 is seen between the cycloid drive element 440 and the gap 460 at the right- hand side of the figure. Again, the arcuate mass 422 of the second counterweight 420 is generally between the location of the gap 460 and the axis of rotation of the output shaft 412.

[0063] FIGS.5A-5G show an interaction between the transmission element 480 of the first motor 180 and a transmission wire 188. FIGS. 5A-5G further show the first motor 180 including a tensioner 502. Although FIGS.5A-5G illustrate the first motor 180, the same or similar elements can be included or used with the second motor 180a. Accordingly, the first motor 180 is representative of both or either the first motor 180 and the second motor 180a. The transmission element 480 is configured to provide a rotational output of the first motor 180 to the transmission wire 188. The transmission wire 188 is configured to engage a control surface of the handle 104A and transfer the rotational output of the first motor 180 as a rotational input to the control surface of the handle 104A.

[0064] FIGS. 5A-5B shows views of the first motor 180 with a transmission wire 188 and a tensioner 502.

[0065] The transmission wire 188 can include a wire rope, a round cable, a flat ribbon, a toothed belt, a v-shaped belt, a string of beads, or any other flexible, tension bearing element. The transmission wire 188 can be formed as a continuous loop or as flexible body extending between a first end 504 and a second end 506. In some embodiments, the transmission wire 188 can form a first loop 508 and a second loop 510. For example, the transmission wire 188 can be crossed, folded, and / or twisted about a longitudinal axis 512 to form the one or more loops. In some examples, the one or more loops can form a coil. The crossed, folded, and / or twisted arrangement of the transmission wire 188 may assist in tensioning the transmission wire 188.

[0066] The first loop 508 can be configured to engage the transmission element 480. For example, the first loop 508 of the transmission wire 188 can extend through and along the groove 484 of the transmission element 480. The first loop 508 can include a plurality of revolutions within the groove 484 and extending around the transmission element 480. The quantity of revolutions extending around the transmission element 480 may assist in preventing slippage. As shown in FIG.5A, the transmission wire 188 can extend through an opening 514 in the first motor 180. The opening 514 can extend through a wall of the housing component 406C, 406D.

[0067] The second loop 510 can be configured to engage the control surface of the handle 104A. In some examples, the first end 504 and the second end 506 can be operatively secured to the control surface of the handle 104A. For example, the first end 504 and the second end 506 can be operatively coupled to the first control knob 132A and / or the second control knob 136. For example, the second loop 510 can extend through and along the engagement surface 144.

[0068] The tensioner 502 can include a bottom surface 516, a top surface 518, and a cavity 520 positioned between the bottom surface 516 and the top surface 518. The tensioner 502 can have a first dimension arranged in a first direction and a second dimension arranged in a second direction. The first direction can be orthogonal to the second direction. In some examples, the first dimension can be a width of the tensioner 502 and the second dimension can be a length of the tensioner 502. For example, the first direction may be radial to the transmission element 480 and the second direction may be tangential to the transmission element 480. The length of the tensioner 502 may be greater than the width of the tensioner 502. The tensioner 502 can further include a slot 522. The slot 522 can extend through the bottom surface 516 and the top surface 518. In some examples, the slot 522 can be arranged orthogonal to the length of the tensioner 502. Accordingly, the slot 522 may be arranged radially to the transmission element 480. The tensioner 502 can further include a shaft 524, a groove 526, and a spring 528.

[0069] The shaft 524 can be an extended element. In some examples, the shaft 524 can be a pin, a pole, a shank, a rod, etc. The shaft 524 can be extend through the bottom surface 516 and the top surface 518 of the tensioner 502. In some examples, the shaft 524 can extend through the slot 522. Accordingly, the shaft 524 can be present in the cavity 520 of thetensioner 502 and can be configured to transition along the length of the slot 522. The shaft 524 can be positioned between the transmission wire 188 and the transmission element 480 in an operable state. In some examples, the shaft 524 can be biased away from the transmission element 480. Accordingly, the shaft 524 can apply tension to the transmission wire 188 toward an enhanced tension state in the operable state.

[0070] The groove 526 can extend across the length of the tensioner 502. For example the groove 526 may be at least partially tangential to the transmission element 480. In some embodiments, the groove 526 can be present on the bottom surface 516 and / or the top surface 518 of the tensioner 502.

[0071] The spring 528 can be a resilient device biased toward a neutral position. Accordingly, the spring 528 can be deformed and configured to return to a non-deformed state. In a first non-limiting example, the spring 528 can be the same as or similar to a leaf spring. For example, the spring 528 can include one or more parallel plates stacked or bound together and designed to flex and return to a neutral position. In a second non-limiting example, the spring 528 can be the same or similar to a compression spring. For example, the spring 528 can include a helical coil extending radially within the groove 526. The spring 528 can be disposed within the groove 526. The spring 528 can be positioned on the bottom surface 516 and the top surface 518. In some examples, the spring 528 can be positioned between the shaft 524 and the groove 526. For example, the spring 528 can be configured to bias the shaft 524 toward an enhanced tension state. In some examples, the tension in the transmission wire 188 may increase as the tensioner biases the transmission wire 188 away from the transmission element 480. For example, the spring 528 may bias the shaft 524 toward an enhanced tension state by increasing the effective radius of the transmission element 480. Accordingly, the non- limiting examples described herein illustrate that the spring 528 can be a biasing element configured to bias the shaft 524 toward the enhanced tension state and / or away from the transmission element 480.

[0072] The tensioner 502 can be directly or indirectly coupled with the transmission wire 188. The tensioner 502 can be configured to apply a tension to the transmission wire 188. In some embodiments, the transmission wire 188 can extend through the cavity 520 of the tensioner. For example, the transmission wire 188 can exit the housing component 406C, 406D and enter the tensioner 502 where tension is applied to thetransmission wire 188, wherein the transmission wire 188 can then thereafter return to the housing component 406C, 406D.

[0073] FIG. 5C shows a top view of the the first motor 180, the transmission wire 188, and the tensioner 502. As shown in FIG. 5C, the first loop 508 of the transmission wire 188 can extend around the transmission element 48 and through the cavity 520 of the tensioner 502. Accordingly, the transmission wire 188 can extend from the groove 484 of the transmission element 480 to the tensioner 502, around the shaft524, and back to the groove 484 of the transmission element 480. The shaft 524 can be biased by the spring 528 away from the transmission element 480 to apply a tension to the transmission wire 188.

[0074] FIGS.5D-5F show views of the transmission element 480, the transmission wire 188, and the shaft 524. The shaft 524 can include a pulley 530. The pulley 530 can be a wheel with a grooved rim. The grooved rim of the pulley 530 can be sized to accommodate the transmission wire 188. Accordingly, the pulley 530 can rotate around the shaft 524 for assisting the transmission wire 188 rotate around the shaft 524. The transmission wire 188 can loop around the transmission element 480 multiple times. In some examples, the transmission wire 188 can revolve around the transmission element 480. For example, as shown in FIG. 5F, the transmission wire 188 can make about 3 revolutions around the transmission element 480. In some examples, the transmission wire 188 can be tensioned by the tensioner 502 in only one of the revolutions. For example, as shown in FIG.5F, the transmission wire 188 can be tensioned by the tensioner 502 in the second revolution.

[0075] FIG. 5G shows a cross sectional view of the first motor 180, the transmission wire 188, and the tensioner 502.

[0076] The transmission wire 188 can be applied to the first motor 180 by placing a midpoint of the transmission wire within the groove 484 of the transmission element 480. In some examples, the transmission wire 188 can first be fed through the tensioner 502 such that the midpoint or more generally an intermediate section of the transmission wire 188 can be positioned within the pulley 530 of the tensioner 502. Midpoint in this context refers to when the loops 508, 510 are in a neutral position and the ends 504, 506 are symmetrically mounted as is illustrated in FIG. 5E. The transmission wire 188 can then be wrapped one or more revolutions around the transmission element 480 within the groove 484 in a first direction and wrapped around the transmission element 480 within the groove 484 in a second direction.The first direction can be opposite the second direction. For example, the first direction can be clockwise and the second direction can be counterclockwise, or vice versa. The plurality of revolutions of the transmission wire 188 can form the first loop 508. In some examples, the number of revolutions in the first direction can be the same as the number of revolutions in the second direction. Accordingly, the midpoint or more generally the intermediate section of the transmission wire 188 can be in a central revolution of the first loop 508. The first end 504 and the second end 506 of the transmission wire 188 can then be fed through an opening 514 of the housing component 406C, 406D, respectively. The first end 504 and the second end 506 can then intersect by crossing the first end 504 over the second end 506, or vice versa. The transmission wire 188 can then be wrapped into the second loop 510. For example, the first end 504 and the second end 506 can be wrapped within the engagement surface 144 around the control dial of the handle 104A. In some examples, the first end 504 and the second end 506 can be secured to prevent unraveling or loosening of the transmission wire 188.

[0077] As discussed above, FIG.6 shows the integration of the first motor 180 into the handle 104A. The first motor 180 can be the same as or similar to the motor assembly 400. The transmission wire 188 can be driven by the transmission element 480 as discussed above. The transmission wire 188 can apply a torque to the first control knob 132A to position or to control the position of the knob, to position or to control the position of the ultrasound element at the tip 116. The operation of the first motor 180 can be controlled by the circuit board 184. The circuit board can process signals from a first encoder 490 which can provide a signal indicating the position on gearbox output shaft 482. This provides greater precision than relying on an encoder providing signals indicating the position of the output shaft 412. In one embodiment, an encoder is provided for the position of the output shaft 412 in addition to the first encoder 490.

[0078] The foregoing descriptions of specific embodiments of the present invention have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particularuse contemplated. It is intended that the scope of the invention be defined by the Claims appended hereto and their equivalents. Additional Terminology

[0079] All of the processes described herein may be embodied in, and fully automated, via software code modules executed by a computing system that includes one or more computers or processors. The code modules may be stored in any type of non-transitory computer-readable medium or other computer storage device. Some or all the methods may be embodied in specialized computer hardware.

[0080] Many other variations than those described herein will be apparent from this disclosure. For example, depending on the embodiment, certain acts, events, or functions of any of the algorithms described herein can be performed in a different sequence or can be added, merged, or left out altogether (for example, not all described acts or events are necessary for the practice of the algorithms). Moreover, in certain embodiments, acts or events can be performed concurrently, for example, through multi-threaded processing, interrupt processing, or multiple processors or processor cores or on other parallel architectures, rather than sequentially. In addition, different tasks or processes can be performed by different machines and / or computing systems that can function together.

[0081] The various illustrative logical blocks, modules, and engines described in connection with the embodiments disclosed herein can be implemented or performed by a machine, such as a processing unit or processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A processor can be a microprocessor, but in the alternative, the processor can be a controller, microcontroller, or state machine, combinations of the same, or the like. A processor can include electrical circuitry configured to process computer-executable instructions. In another embodiment, a processor includes an FPGA or other programmable device that performs logic operations without processing computer-executable instructions. A processor can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunctionwith a DSP core, or any other such configuration. Although described herein primarily with respect to digital technology, a processor may also include primarily analog components. For example, some or all of the signal processing algorithms described herein may be implemented in analog circuitry or mixed analog and digital circuitry. A computing environment can include any type of computer system, including, but not limited to, a computer system based on a microprocessor, a mainframe computer, a digital signal processor, a portable computing device, a device controller, or a computational engine within an appliance, to name a few.

[0082] Conditional language such as, among others, “can,” “could,” “might” or “may,” unless specifically stated otherwise, are understood within the context as used in general to convey that certain embodiments include, while other embodiments do not include, certain features, elements and / or steps. Thus, such conditional language is not generally intended to imply that features, elements and / or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements and / or steps are included or are to be performed in any particular embodiment.

[0083] Disjunctive language such as the phrase “at least one of X, Y, or Z,” unless specifically stated otherwise, is understood with the context as used in general to present that an item, term, etc., may be either X, Y, or Z, or any combination thereof (for example, X, Y, and / or Z). Thus, such disjunctive language is not generally intended to, and should not, imply that certain embodiments require at least one of X, at least one of Y, or at least one of Z to each be present.

[0084] Any process descriptions, elements or blocks in the flow diagrams described herein and / or depicted in the attached figures should be understood as potentially representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or elements in the process. Alternate implementations are included within the scope of the embodiments described herein in which elements or functions may be deleted, executed out of order from that shown, or discussed, including substantially concurrently or in reverse order, depending on the functionality involved as would be understood by those skilled in the art.

[0085] Unless otherwise explicitly stated, articles such as “a” or “an” should generally be interpreted to include one or more described items. Accordingly, phrases such as“a device configured to” are intended to include one or more recited devices. Such one or more recited devices can also be collectively configured to carry out the stated recitations. For example, “a processor configured to carry out recitations A, B and C” can include a first processor configured to carry out recitation A working in conjunction with a second processor configured to carry out recitations B and C.

[0086] It should be emphasized that many variations and modifications may be made to the above-described embodiments, the elements of which are to be understood as being among other acceptable examples. All such modifications and variations are intended to be included herein within the scope of this disclosure. The foregoing descriptions of specific embodiments of the present invention have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the Claims appended hereto and their equivalents. Example Clauses

[0087] Examples of the implementations of the present disclosure can be described in view of the following example clauses. The features recited in the below example implementations can be combined with additional features disclosed herein. Furthermore, additional inventive combinations of features are disclosed herein, which are not specifically recited in the below example implementations, and which do not include the same features as the specific implementations below. For sake of brevity, the below example implementations do not identify every inventive aspect of this disclosure. The below example implementations are not intended to identify key features or essential features of any subject matter described herein. Any of the example clauses below, or any features of the example clauses, can be combined with any one or more other example clauses, or features of the example clauses or other features of the present disclosure.

[0088] Clause 1. A motor assembly, comprising: a motor; a rotor configured to be controllably driven in rotation, the rotor coupled with an output shaft of the motor to rotate the output shaft about an axis of rotation; a cycloid drive element coupled with the output shaft, the cycloid drive element having a first cycloid feature disposed on a first side of the cycloid drive element having a first gear ratio, the cycloid drive element having a second cycloid feature disposed on a second side of the cycloid drive element opposite the first side, the second side having a second gear ratio; and a transmission element configured to drive an ultrasound control dial.

[0089] Clause 2. The motor assembly of Clause 1, further comprising a counterweight disposed on the first side of the cycloid drive element, the counterweight comprising a disk member having a first arcuate portion and a second arcuate portion disposed opposite to the first arcuate portion, the first arcuate portion having less mass than the second arcuate portion.

[0090] Clause 3. The motor assembly of Clause 2, wherein the counterweight is first counterweight and further comprising a second counterweight disposed on the second side of the cycloid drive element.

[0091] Clause 4. The motor assembly of Clause 3, wherein the second counterweight disposed on the second side of the cycloid drive element further comprises an arcuate mass.

[0092] Clause 5. The motor assembly of Clause 4, wherein the arcuate mass of the second counterweight is rotationally aligned with a higher mass portion of the first counterweight disposed on the first side of the cycloid drive element.

[0093] Clause 6. The motor assembly of any one of Clauses 1-5, wherein the cycloid drive element comprises a sinusoidal periphery comprising flat apices facing away from an axis of rotation of the cycloid drive element.

[0094] Clause 7. The motor assembly of Clause 6, wherein the sinusoidal periphery is configured to engage a bearing element and the flat apices are configured to spaced from the bearing element by a gap when the flat apices are aligned with a radius extending from the axis of rotation to a geometric center of the bearing element.

[0095] Clause 8. The motor assembly of any one of Clauses 1-7, wherein the axis of rotation is a first axis of rotation and the cycloid drive element coupled with the output shaftis configured to drive the transmission element about a second axis of rotation, the second axis of rotation aligned with the first axis of rotation.

[0096] Clause 9. The motor assembly of any one of Clauses 1-8, further comprising a housing configured to enclose the motor and the transmission element between a top side and a bottom side, the top side configured to be at or below an elevation of a top surface of a control dial of a TEE probe when a bottom surface of the housing is coupled to a body of a handle of the TEE probe.

[0097] Clause 10. The motor assembly of any one of Clauses 1-10, further comprising a first encoder coupled with output shaft of the motor and a second encoder coupled with the transmission element, the second encoder providing a signal indicative of rotational position of the ultrasound control dial.

[0098] Clause 11. The motor assembly of any one of Clauses 1-11, further comprising a transmission wire coupled to the transmission element.

[0099] Clause 12. The motor assembly of Clause 11, wherein the transmission wire is a wire rope, a round cable, a flat ribbon, a toothed belt, a v-shaped belt, or a string of beads.

[0100] Clause 13. The motor assembly of Clause 11, further comprising a tensioner coupled to the transmission wire.

[0101] Clause 14. The motor assembly of Clause 13, wherein the tensioner comprises a slot, a shaft disposed within the slot, a groove oriented transverse to the slot, and a spring extending along the groove and positioned between the shaft and the transmission element, wherein the spring biases the shaft in a direction enhancing tension in the transmission wire.

[0102] Clause 15. A motor assembly, comprising: a motor comprising an output shaft; a transmission element operatively coupled to the output shaft, the transmission element comprising a groove extending inward from an outer periphery of the transmission element; a transmission wire extending through and along the groove of the transmission element and configured to couple to a control surface; and a tensioner in mechanical communication with the transmission wire and configured to bias the transmission wire away from the transmission element.

[0103] Clause 16. The motor assembly of Clause 15, wherein the motor further comprises a cycloid drive element coupled with the output shaft.

[0104] Clause 17. The motor assembly of Clause 16, wherein the cycloid drive element comprises a first cycloid feature disposed on a first side of the cycloid drive element having a first gear ratio, the cycloid drive element having a second cycloid feature disposed on a second side of the cycloid drive element opposite the first side, the second side having a second gear ratio.

[0105] Clause 18. The motor assembly of any one of Clauses 15-17, wherein the tensioner comprises: a slot oriented radially to transmission element, the slot comprising a first end and a second end; a shaft disposed within the slot, positioned between the transmission wire and the transmission element, and configured to translate between the first end and the second end; a groove oriented orthogonal to the slot; and a spring extending along the groove and positioned between the shaft and the transmission element, wherein the spring is configured to bias the shaft away from the transmission element.

[0106] Clause 19. The motor assembly of any one of Clauses 15-18, wherein the transmission wire extends from the groove of the transmission element to the tensioner and back to the groove of the transmission element.

[0107] Clause 20. The motor assembly of any one of Clauses 15-19, wherein the transmission wire is a flexible body extending between a first end and a second end, wherein the transmission wire comprises: a first loop extending through the groove around the transmission element and the tensioner; and a second loop configured to engage the control surface.

[0108] Clause 21. The motor assembly of Clause 20, wherein the first loop comprises one or more revolutions extending around the transmission element, wherein the second loop comprises one or more revolutions extending around the control surface, and wherein the transmission wire further comprises an intersection.

Claims

WHAT IS CLAIMED IS:

1. A motor assembly, comprising: a motor; a rotor configured to be controllably driven in rotation, the rotor coupled with an output shaft of the motor to rotate the output shaft about an axis of rotation; a cycloid drive element coupled with the output shaft, the cycloid drive element having a first cycloid feature disposed on a first side of the cycloid drive element having a first gear ratio, the cycloid drive element having a second cycloid feature disposed on a second side of the cycloid drive element opposite the first side, the second side having a second gear ratio; and a transmission element configured to drive an ultrasound control dial.

2. The motor assembly of Claim 1, further comprising a counterweight disposed on the first side of the cycloid drive element, the counterweight comprising a disk member having a first arcuate portion and a second arcuate portion disposed opposite to the first arcuate portion, the first arcuate portion having less mass than the second arcuate portion.

3. The motor assembly of Claim 2, wherein the counterweight is first counterweight and further comprising a second counterweight disposed on the second side of the cycloid drive element.

4. The motor assembly of Claim 3, wherein the second counterweight disposed on the second side of the cycloid drive element further comprises an arcuate mass.

5. The motor assembly of Claim 4, wherein the arcuate mass of the second counterweight is rotationally aligned with a higher mass portion of the first counterweight disposed on the first side of the cycloid drive element.

6. The motor assembly of Claim 1, wherein the cycloid drive element comprises a sinusoidal periphery comprising flat apices facing away from an axis of rotation of the cycloid drive element.

7. The motor assembly of Claim 6, wherein the sinusoidal periphery is configured to engage a bearing element and the flat apices are configured to spaced from the bearing element by a gap when the flat apices are aligned with a radius extending from the axis of rotation to a geometric center of the bearing element.

8. The motor assembly of Claim 1, wherein the axis of rotation is a first axis of rotation and the cycloid drive element coupled with the output shaft is configured to drive the transmission element about a second axis of rotation, the second axis of rotation aligned with the first axis of rotation.

9. The motor assembly of Claim 1, further comprising a housing configured to enclose the motor and the transmission element between a top side and a bottom side, the top side configured to be at or below an elevation of a top surface of a control dial of a TEE probe when a bottom surface of the housing is coupled to a body of a handle of the TEE probe.

10. The motor assembly of Claim 1, further comprising a first encoder coupled with output shaft of the motor and a second encoder coupled with the transmission element, the second encoder providing a signal indicative of rotational position of the ultrasound control dial.

11. The motor assembly of Claim 1, further comprising a transmission wire coupled to the transmission element.

12. The motor assembly of Claim 11, wherein the transmission wire is a wire rope, a round cable, a flat ribbon, a toothed belt, a v-shaped belt, or a string of beads.

13. The motor assembly of Claim 11, further comprising a tensioner coupled to the transmission wire.

14. The motor assembly of Claim 13, wherein the tensioner comprises a slot, a shaft disposed within the slot, a groove oriented transverse to the slot, and a spring extending along the groove and positioned between the shaft and the transmission element, wherein the spring biases the shaft in a direction enhancing tension in the transmission wire.

15. A motor assembly, comprising: a motor comprising an output shaft; a transmission element operatively coupled to the output shaft, the transmission element comprising a groove extending inward from an outer periphery of the transmission element; a transmission wire extending through and along the groove of the transmission element and configured to couple to a control surface; and a tensioner coupled with the transmission wire and configured to bias the transmission wire toward an enhanced tension state.

16. The motor assembly of Claim 15, wherein the motor further comprises a cycloid drive element coupled with the output shaft.

17. The motor assembly of Claim 16, wherein the cycloid drive element comprises a first cycloid feature disposed on a first side of the cycloid drive element having a first gear ratio, the cycloid drive element having a second cycloid feature disposed on a second side of the cycloid drive element opposite the first side, the second side having a second gear ratio.

18. The motor assembly of Claim 15, wherein the tensioner comprises: a slot oriented radially to transmission element, the slot comprising a first end and a second end; a shaft disposed within the slot, positioned between the transmission wire and the transmission element, and configured to translate between the first end and the second end; and a spring positioned between the shaft and the transmission element, wherein the spring is configured to bias the shaft away from the transmission element.

19. The motor assembly of Claim 15, wherein the transmission wire extends from the groove of the transmission element to the tensioner and back to the groove of the transmission element.

20. The motor assembly of Claim 15, wherein the transmission wire is a flexible body extending between a first end and a second end, wherein the transmission wire comprises: a first loop extending through the groove around the transmission element and the tensioner; and a second loop configured to engage the control surface.

21. The motor assembly of Claim 20, wherein the first loop comprises one or more revolutions extending around the transmission element, wherein the second loop comprises one or more revolutions extending around the control surface, and wherein the transmission wire further comprises an intersection.

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