Transesophageal echocardiography probe handle torque sensor and control methods

Abstract

A transesophageal echocardiography (TEE) probe is provided that includes a sensor for measuring applied input torque and / or rotational motion of a knob about an axis of rotation or translational displacement in a plane perpendicular to the axis of rotation. The TEE probe can include a motor and a controller. The knob can include an outer ring with an outer periphery and an inner ring coupled with the outer periphery. The sensor includes a first and second capacitive plate. The first capacitive plate is connected to the outer ring and the second capacitive plate is connected to the inner ring. The motor is operatively coupled to the outer ring at the outer periphery. Rotational motion of the outer ring relative to the inner ring and / or translation of the outer ring perpendicular to axis of rotation is measured by the controller processing signals from the first and second capacitive plates.

Description

LAZA.039WO PATENT TRANSESOPHAGEAL ECHOCARDIOGRAPHY PROBE HANDLE TORQUE SENSOR 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 No. 63 / 637689, filed on April 23, 2024, titled TRANSESOPHAGEAL ECHOCARDIOGRAPHY PROBE HANDLE and to U.S. Patent Application No. 63 / 655746, filed on June 4, 2024, titled TRANSESOPHAGEAL ECHOCARDIOGRAPHY PROBE HANDLE, the contents of which are hereby incorporated by reference in their 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 OF THE INVENTION 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 probes 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 inreal-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 capacitive plates positioned between an inner and outer member connected via radial members to measure applied torque to one or more control knobs of an echocardiographic medical imaging device. The capacitive plates positioned between the inner and outer members can be parallel in a neutral position under a load of zero torque.

[0008] In a first aspect, a torque sensor is provided that includes a knob, a capacitor, and a processor. The knob includes an outer member having an outer periphery, an inner member having an inner periphery, and a radial member disposed between the outer member and the inner member. The capacitor is coupled with the outer member and with the inner member. The processor is configured to monitor a signal output by the capacitor to determine a change in rotational position of the outer member relative to the inner member.

[0009] In one or more aspects described above, the capacitor includes a first capacitor element coupled with the outer member and a second capacitor element coupled with the inner member. A change in distance between or parallelism of the first capacitor element and the second capacitor element generates the signal output by the capacitor. The outer member includes an outer ring member and the inner member comprises an inner ring member. The torque sensor further includes a plurality of radial members disposed between the inner ring member and the outer ring member, each radial member having an outer end coupled with the outer ring member and an inner end coupled with the inner ring member. The capacitor is a first capacitor and further includes a second capacitor coupled with the outer member and the inner member. The torque sensor further includes a radial member coupling the inner member to the outer member disposed at each end of each of the first capacitor and the second capacitor.

[0010] In another aspect, an ultrasound probe assembly is provided that includes a handle and a torque sensor. The handle includes a control knob configured to receive a torque input at the outer periphery and having a torque transfer portion configured to apply a load to a tip control wire. The torque sensor includes a knob, a capacitor, and a processor. The knob includes an outer member having an outer periphery, an inner member having an inner periphery, and a radial member disposed between the outer member and the inner member. The capacitor is coupled with the outer member and with the inner member. The processor is configured to monitor a signal output by the capacitor to determine a change in rotational position of the outer member relative to the inner member. The inner member is coupled with the torque transfer portion such that a torque applied to the outer periphery of the knob is transferred through the outer member to the radial member, from the radial member to the inner member, from the inner member to the torque transfer portion, and from the torque transfer portion to the tip control wire.

[0011] In one or more aspects described above, one of the torque transfer portion and the inner member includes a slot and the other of the torque transfer portion and the inner member includes a tab disposed in the slot to enable a torque to be transferred from the inner member to the torque transfer portion. The ultrasound probe assembly further includes a plurality of slots and tabs connecting the inner member to the torque transfer portion. The tab is disposed on the inner member and the slot is disposed in on the torque transfer portion.

[0012] In another aspect, an ultrasound probe assembly control method is provided which includes detecting a torque signal from a control knob of an ultrasound probe handle and controlling a motor engaged with the control knob based on a detected torque signal to control a load in a tip control wire engaged with the control knob.

[0013] In one or more aspects described above, the torque signal is indicative of a direction of a torque applied to the control knob. Controlling the motor includes applying a torque to the control knob in a same direction as the direction of the torque applied to the control knob to assist rotational movement of the control knob. Controlling the motor includes reducing an amount of torque applied by the motor to the control knob in a direction of the detected torque to reduce a torque transmitted by the control knob to a control wire. Detecting a rotational position sensor signal to determine an amount of rotation of the control knob of the ultrasound probe handle. Controlling the motor includes reducing an amount of torque applied by the motor to the control knob when the amount of rotation is less than a threshold to reduce a torque transmitted by the control knob to a tip control wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] FIG. 1 is a view of a transesophageal echocardiography (TEE) probe with proximal control.

[0015] FIG. 2 is a perspective view of a TEE handle with an integrated motorized kit.

[0016] FIG. 3A is a cross-sectional elevation view of a TEE handle with an integrated motorized kit.

[0017] FIG. 3B is a cross-sectional elevation view of a motorized cradle for receiving a TEE handle.

[0018] FIG.4 is a perspective view of a TEE handle with proximal control.

[0019] FIG.5A is an embodiment of an adapter element with torque sensing.

[0020] FIG. 5B is a cross-sectional perspective view of the embodiment of the adapter element with torque sensing of FIG.5A.

[0021] FIG. 5C is a perspective view of an example torque sensing array of the embodiment of the adapter element with torque sensing of FIG.5A.

[0022] FIG. 5D is a cross-sectional view of a torque sensor of the embodiment of the adapter element with torque sensing of FIG. 5A.

[0023] FIG. 5E is a schematic diagram illustrating the movement of opposing plates of one embodiment of a torque sensor of the embodiment of the adapter element with torque sensing of FIG.5A.

[0024] FIG. 5F is a chart illustrating a relationship between sensor output and a displacement angle corresponding to applied torque.

[0025] FIG.5G is another example of a torque sensing array of the embodiment of the adapter element with torque sensing of FIG. 5A.

[0026] FIG.5H is an adapter element with the torque sensing array of FIG.5G.

[0027] FIG.6 is a schematic of a data flow through a TEE probe.

[0028] FIG.7A is a top view of another embodiment of an adapter element with a torque sensor.

[0029] FIG. 7B is a top view of the adapter element of FIG. 7A with the torque sensor.

[0030] FIG. 7C is a side cross-sectional view of the adapter element with a torque sensor of FIG.7A.

[0031] FIG.7D is a cross-sectional view of the adapter with a torque sensor along section A-A of FIG.7C.

[0032] FIG.7E is a front cross-sectional view of the torque sensor of FIG.7B.

[0033] FIG. 7F is a perspective view of a torque sensor of the adapter element of FIG.7B.

[0034] FIG.7G is a perspective view of the torque sensor of FIG.7F.

[0035] FIG. 7H is a perspective view of the adapter with a torque sensor of FIG. 7A.

[0036] FIG. 7I is a torque sensing array for use with the torque sensor of FIG.7B.

[0037] FIG. 8A is a top view of another embodiment of an adapter element with torque sensing.

[0038] FIG.8B is a perspective view of a torque sensor of the adapter element with torque sensing of FIG.8A.

[0039] FIG. 8C is a top view of a load cell of the torque sensor of the adapter element with torque sensing of FIG. 8A.

[0040] FIG.8D is a perspective view of the load cell of FIG.8C.

[0041] FIG.8E is a torque sensing array for use with the torque sensor of FIG.8C.

[0042] FIG. 9A is a top view of another embodiment of an adapter element with torque sensing.

[0043] FIG.9B is a perspective view of the adapter element with torque sensing of FIG.9A.

[0044] FIG.9C is a top view of a torque sensor of the adapter element with torque sensing of FIG. 9A.

[0045] FIG. 9D is a perspective cross-sectional view of the torque sensor of FIG. 9C.

[0046] FIG.10A is a flow chart for controlling a TEE probe.

[0047] FIG. 10B is a flow chart for measuring torque applied to a control knob of the TEE probe. DETAILED DESCRIPTION

[0048] 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.

[0049] 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 alongitudinal 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.

[0050] 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.

[0051] FIG. 1 shows a transesophageal echocardiography (TEE) probe 100. The TEE probe 100 can include a handle 104, an electrical interface 108, a cable 112, a tip 116, and a flexible shaft 120. The handle 104 can further include one or more control knobs. For examples, the one or more control knobs can include a first control knob 132 and a second control knob 136. The term “knob” can be a rotatable mechanism for adjusting or controlling one or more degrees freedom of the TEE probe 100. In some examples, a knob may be hand operable. The one or more control knobs can also be called control dials. In some embodiments, as discussed in greater detail below in connection with FIGS. 2, 3A and 4-5H, the one or more control knobs can be equipped with a sensor, or sensors, to detect a torque applied to the one or more control knobs. In some embodiments, as discussed in greater detail below in connection with FIGS. 3B and 7A-9D, the one or more control knobs can engage a sensor to detect a torque applied to the one or more control knobs. The output of the sensor(s) can be used in a method for controlling the operation of the tip 116, for example.

[0052] The handle 104 can be an elongated structure having a first end and a second end positioned opposite the first end. The handle 104 can house one or more electrical and / or mechanical wires. For example, the handle 104 can include coax cables configured to transmit electrical signals from the cable 112 to the flexible shaft 120.

[0053] The electrical interface 108 can be a device for electrically connecting the TEE probe 100 to an ultrasound console, which could also include a power source and / or a processing device. In some embodiments, the electrical interface 108 may include one or more inputs and / or outputs for transmitting electrical signals between the TEE probe 100 and the ultrasound console, e.g., from or to the processing device. For example, the electrical interface 108 may transmit imaging data to the processing device.

[0054] The cable 112 can be an electrical cable configured to transmit electrical signals between the electrical interface 108 and the handle 104. In some embodiments, thecable 112 can include a central core surrounded by electrical insulation and / or magnetic shielding. For example, the cable 112 can be a coaxial cable.

[0055] The tip 116 can include an ultrasound transducer and / or an array of ultrasound transducers. The tip 116 can be configured to transmit and receive ultrasound energy. Accordingly, the tip 116 may be used to capture ultrasound images. The tip 116 may make a level of contact with the tissue while capturing ultrasound images and that level of contact can be monitored, regulated and / or controlled by sensing a torque applied to one or both of the first control knobs 132 and the second control knob 136.

[0056] The flexible shaft 120 can be an elongated member having a first end and a second end. The flexible shaft 120 can include a lumen extending between the first end and the second end. In some embodiments, the flexible shaft 120 can include electrical and mechanical elements extending through the lumen. The electrical elements can be configured to transmit electrical signals between the tip 116 to the handle 104. The mechanical elements can be configured to manipulate the shape of the flexible shaft 120. In some embodiments, the mechanical elements can be wires extending from the handle 104 to one or more positions along the length of the flexible shaft 120. Applying forces to the mechanical elements may work to deflect the shape of the flexible shaft 120 in one or more directions.

[0057] The one or more control can include a first control knob 132 and a second control knob 136. The one or more control knobs can be rotatable members configured to rotate about a central axis. In some embodiments, the first control knob 132 and the single control knob 136 can each be formed of a single component extending from a first portion configured to mate with a mechanism for articulating the tip 116 to a second portion having a surface configured for a user to grip to apply a torque. For example, the first control knob 132 and the second control knob 136 may have disk shaped at the second portion. The first control knob 132 and the second control knob 136 can have a recess or projection at the first portion configured to mate with the articulation mechanism. The manner in which the knobs rotate, e.g., the speed or torque, can be detected by a torque sensor as discussed herein below. In some embodiments, the one or more control knobs can be used to manipulate the shape of the flexible shaft 120 based upon the sensed speed or torque.

[0058] The handle 104 can be coupled to a cable 112 and the flexible shaft 120. In some embodiments, the cable 112 can extend from an end of the handle 104 opposite theflexible shaft 120. For example, the cable 112 may extend from the first end of the handle 104 and the flexible shaft 120 may extend from the second end of the handle 104, or vice versa. The cable 112 can physically and electrically couple the handle 104 to the electrical interface 108. The flexible shaft 120 can physically and electrically couple the handle 104 to the tip 116.

[0059] The one or more control knobs can be mechanically coupled to the handle 104. In some embodiments, the one or more control knobs are operatively coupled with the flexible shaft 120. For example, the one or more control knobs can be mechanically coupled to the mechanical elements extending through the lumen of the flexible shaft 120. Accordingly, a rotation of the one or more knobs may result in a corresponding actuation of the flexible shaft 120. The one or more control knobs can each be configured to control one degree of freedom of the flexible shaft 120. In some embodiments, the first control knob 132 can control a first distal deflection and the second control knob 136 can control a second distal deflection. For example, the first control knob 132 can control a horizontal deflection (e.g., yaw) and the second control knob 136 can control a vertical deflection (e.g., pitch). A torque sensor, as discussed below, can be coupled with the first control knob 132 to detect a torque applied thereto corresponding to a user’s intent to adjust the

[0060] The TEE probe 100 is designed to provide an image of a patient’s heart by inserting the flexible shaft 120 through the patient’s esophagus and directing the tip 116 toward the patient’s heart. The tip 116 can be driven by manipulating the one or more control knobs located on the handle 104. The one or more control knobs can provide proximal control to control elements within the flexible shaft 120. The handle 104 can be an interface for being manipulated by a user, robot, or a hybrid system.

[0061] FIGS.2 and 3A show a modified embodiment of a handle 104A of the TEE probe 100 having a torque sensing system as described further below. The handle 104A can be substantially similar to the handle 104 described above with the addition of one or more sensors. As shown in FIGS. 2 and 3A, the handle 104A can further include a protrusion 140. The handle 104A is further shown to have a contour along its longitudinal length.

[0062] The one or more control knobs of the modified handle may be the same or substantially similar to the control knobs 132, 136 described above. In some embodiments, the one or more control knobs may include additional features. For example, the one or morecontrol knobs may further include one or more engagement surfaces 144. The one or more control knobs of the modified handle can include a first control knob 132A and a second control knob 136A. In some embodiments, the one or more engagement surfaces 144 may be a slot extending around the circumference of the first control knob 132A and the second control knob 136A as shown in FIG.3A. The slot may extend radially inward from the outer circumference of the one or more control knobs.

[0063] The first control knob 132A and the second control knob 136A can include the torque sensing system. The torque sensing system can include an inner member, an outer member, and one or more radial members extending therebetween. As described above, the first control knob 132A and the second control knob 136A can each be a single, unitary component, e.g., with a disk-shaped portion. To maintain relative movement between portions of the unitary component, the first control knob 132A and the second control knob 136A can include a circumferential slot extending circumferentially through the body of the one or more control knobs defining the inner member and the outer member with one or more radial members extending therebetween. The torque sensing system can further include capacitive elements coupled to and / or otherwise engaged to the outer member and the inner member, respectively. Relative motion of the capacitive elements may be detected and correspond to a particular change in relative position between the capacitive elements. The one or more radial members may have a known stiffness and act to bias the inner and outer members to a neutral position. The torque sensing system can be configured to measure a torque applied to the one or more control knobs by measuring the motion of the outer member relative to the inner member via the capacitive elements as described in greater detail below. In some embodiments, the one or more control knobs may not be a single unitary component. For example, the one or more control knobs may further include an inner knob portion and an outer knob portion, respectively, as described in greater detail below, which facilitate assembly of these components together.

[0064] The handle 104A can include a cover 160, a securement element 168, one or more motors 180A, 180B, and one or more engagement features.

[0065] The cover 160 can be a housing for covering the one or more motors 180A, 180B (see FIG. 3A). The cover 160 can include a first end and a second end. In some embodiments, the first end may be positioned at the end of the handle 104a corresponding tothe cable 112 and the second end may be positioned adjacent to the one or more control knobs 132A, 136. As shown in FIGS. 2 and 3A, the cover 160 can include an upper engagement surface 162 and a lower engagement surface 164. In some embodiments, the upper engagement surface 162 can engage a surface of one of the first control knob 132A or the second control knob 136A and the lower engagement surface 164 can engage the protrusion 140 extending from the handle 104A. In some embodiments, the lower engagement surface 164 can extend below the one or more knobs. Accordingly, the cover 160 can be part of a drive interface for robotically operating a TEE probe.

[0066] 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 position and a second position. In some embodiments, the protrusion 140 may be configured to axially translate or rotate 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 132 and the second control knob 136 is not transmitted through the flexible shaft 120. In contrast, the shaft 120 can be manipulated in the unlocked state to orient the tip 116to a desired position. Accordingly, the protrusion 140 can transition from the unlocked state to the locked state to fix the tip 116 in place. 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. By securing the protrusion 140 in the second position, the flexible shaft can be maintained in a flexible state. The flexible state can be the opposite of the locked state in one embodiment. In other words, the cover 160 can prevent the protrusion 140 and the lever with which it is associated from moving to the post-locked state which can assure that the flexible shaft is maintained as flexible as possible. This can have thebenefit of allowing the flexible shaft to change shape or pose in response to load applied by the tissue, e.g., as the flexible shaft is moved proximally within the patient.

[0067] The securement element 168 can be a thin-walled device having a first end and a second end. In some embodiments, the securement element 168 has a contoured surface configured to engage with the exterior surface of the handle 104A and / or the cover 160. For example, the first end of the securement element 168 can have a first geometric profile corresponding to a position on the handle 104A and the second end of the securement element 168 can have a second geometric profile corresponding to another position on the handle 104A. The securement element 168 may be configured to be slidably engaged onto the handle 104A by sliding from a first position to a second position. In the first position, the securement element 168 may be positioned proximally of the handle 104A. In the second position, the securement element 168 may be positioned around the handle 104A and engage the cover 160. The securement element 168 can prevent the cover 160 from being removed from the handle 104A when the securement element 168 is in the second position.

[0068] FIG. 3A illustrates a cross-sectional elevation view of the handle 104A shown in FIG.2 described above, showing details of the first control knob 132A and the second control knob 136A and a drive train for interactive control of the knobs or of the probe. The handle 104A can include any number of control knobs. In some examples, the handle 104A can include more or fewer control knobs than as shown in FIG. 3A. For example, the handle 104A can include one, two, three, four, or more control knobs. Each control knob can be configured to operate a degree of freedom of the TEE probe 100.

[0069] As shown in FIG. 3A, the cover 160 can contain one or more motors. The one or more motors may be DC motors configured to provide an output. In some embodiments, the output may be a rotary output. The one or more motors can include any number of motors. In some embodiments, the one or more motors can have the same number of motors as the handle 104A has control knobs. For example, the one or more motors can include one, two, three, four or more motors. Accordingly, each motor can correspond to a distinct control knob of the handle 104A. As shown in FIG. 3A, the one or more motors can include a first motor 180A and a second motor 180B. The first motor 180A and the second motor 180B can be substantially similar. In some embodiments, the first motor 180A and the second motor 180B can be the same motor type, make, and / or model. For example, the first motor 180A and thesecond motor 180B may include cycloid drives. The first motor 180A can be oriented in a first orientation within the cover 160 and the second motor 180B can be oriented in a second orientation within the cover 160. In some embodiments, the second orientation may be opposite the first orientation. Accordingly, the motor output of the second motor 180B can be positioned on an end opposite the first motor 180A. 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 .

[0070] Each of the one or more motors 180A, 180B 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 180A, 180B.

[0071] As shown in FIG. 3A, the one or more control knobs can include an engagement surface 144. The engagement surface 144 can be a slot extending radially inward from the outer circumference of the one or more control knobs 132A.

[0072] The rotary output of the first motor 180A and the second motor 180B may be operatively coupled to the one or more control knobs. For example, the first motor 180A may drive the first control knobs 132A via a driven cable and / or pulley system and the second motor 180B may drive the second control knob 132B, or vice versa. In some embodiments, the cable and / or pulley system engages the engagement surface 144 of the one or more knobs.

[0073] FIG. 3B shows an embodiment of an unmodified handle of the TEE probe 100 having a torque sensing system as described further below. As shown in FIG. 3B, the handle 104 can further include a protrusion 140.

[0074] FIG. 3B illustrates a cross-sectional elevation view of an unmodified, or substantially unmodified, handle described above. In this context, unmodified can mean that the handle 104 can be one that is configured for manual control but can be coupled with one or more robotic systems to provide automated or machine control in some circumstances. Because the coupling of the handle 104 is not following any substantial modification thereof, the handle 104 can resume manual operation after some amount of machine control. Thus, the handle 104 is capable of at least two modes of operation. 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 a 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 canbe a cradle configured to receive and robotically operate the unmodified handle. The cover 160a or cradle could also be configured to work with dedicated robotic probe handles or in some cases with either an unmodified (e.g., manual) control handle or a dedicated machine control handle. The cover 160a can include the one more motors described herein with reference to FIG.3A 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 or can include one or more engagement surfaces 162A.

[0075] As described herein with reference to FIG.3A, 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.

[0076] 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 discussed above (e.g., cable 112) engages the engagement surface 162A. Accordingly, the rotary output of the first motor 180A and the second motor 180B may be operatively 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 knob 136 via a driven cable and pulley system about 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.

[0077] FIGS. 4-5H illustrate a first embodiment of systems and methods for sensing applied torque to a control knob of a TEE probe.

[0078] FIG.4 illustrates a perspective view of the handle 104A having one or more inner knob portions 300A, 300B. The one or more inner knob portions 300A, 300B can be an interior portion of the one or more control knob 132A, 136A described above. The one or more inner knob portions 300A, 300B can be operatively coupled to a transmission element (e.g., a belt, a cable, a tip control wire) configured to control at least one degree of freedom of the flexible shaft 120 of the TEE probe 100 described above. In some embodiments, the one or more inner knob portions 300A, 300B can include a torque transfer portion configured to apply a load to the transmission element. The one or more inner knob portions 300A, 300B can further include one or more notches 302, sometimes referred to herein as slots.

[0079] The one or more notches 302 can be an engagement surface for mating and / or coupling the one or more inner knob portions 300A, 300B to another device. In some embodiments, the one or more notches 302 may form an interface for coupling the one or more inner knob portions 300A, 300B to an outer knob portion or ring described in greater detail below. In some embodiments, the one or more notches 302 can be a plurality of notches equally spaced around the circumference of the one or more inner knob portions 300A, 300B. Spacing the one or more notches 302 equally around the circumference of the one or more inner knob portions 300A, 300B may advantageously disperse applied torque around the circumference of the one or more inner knob portions 300A, 300B.

[0080] FIG. 5A illustrates a perspective view of an outer knob portion 304. The outer knob portion 304 can be an exterior portion of the one or more control knobs 132A, 136A described above. The outer knob portion 304 can further include an inner member 306, an outer member 308, one or more radial members 310, and one or more torque sensors 312. In some embodiments, the outer knob portion 304 can further include a slot 314 having one or more engagement surfaces 316. In some embodiments, and the outer knob portion 304 can further include one or more protrusions 318, also referred to herein as tabs. The outer knob portion 304 can be configured to couple to the one or more inner knob portions 300A, 300B. In some embodiments, the outer knob portion 304 may be vertically inserted around the one or more inner knob portions 300A, 300B. In some embodiments, an outer knob portion 304 may be provided to each of the one or more inner knob portions 300A, 300B.

[0081] The inner member 306 can have an inner surface or periphery and an outer surface or periphery. In some embodiments, the inner surface of the inner member 306 may define an opening extending through the outer knob portion 304. In some embodiments, the inner member 306 can be arranged as a ring. The diameter of the inner surface of the inner member 306 can be larger than the outer diameter of one of the one or more inner knob portions 300A, 300B. In some embodiments, the diameter of the inner surface of the inner member 306 can be marginally larger than the outer diameter of one of the one or more inner knob portions 300A, 300B. For example, the diameter of the inner surface of the inner member 306 may be at least a millimeter larger than the outer diameter of one or more inner knob portions 300A, 300B. Accordingly, the outer knob portion 304 can fit around the outer diameter of the one or more inner knob portions 300A, 300B. In some examples, the inner member 306 can be referred to as a contact surface. For example, the inner member 306 can contact the one or more inner knob portions 300A, 300B.

[0082] The outer member 308 can also have an inner surface or periphery and an outer surface or periphery. In some embodiments, the outer member 308 can be arranged as a ring. In some embodiments, the outer surface of the outer member 308 can have a non-uniform and / or cyclic diameter, as shown in FIG. 5A. The non-uniform outer diameter of the outer member 308 can form the one or more engagement surfaces 316 described in greater detail below. The diameter of the inner surface of the outer member 308 can be greater than the diameter of the outer surface of the inner member 306. In some embodiments, the diameter of the inner surface of the outer member 308 may be substantially greater than the diameter of the outer surface of the inner member 306. Sizing the diameter of the inner surface of the outer member 308 to be greater than the diameter of the outer surface of the inner member 306 may advantageously avoid friction, allow the inner and outer surfaces to rotate relative to one another, and / or provide components between the inner member 306 and the outer member 308. In some examples, the outer member 308 can be referred to as being or as including an engagement surface and / or an engagement device. For example, the outer member 308 can be configured to operatively engage the one or more inner knob portions 300A, 300B and transfer a rotational input from a motor to the inner knob portions 300A, 300B.

[0083] The one or more radial members 310 can be disposed and / or extend between the inner member 306 and the outer member 308. In some embodiments, the radial members310 can maintain the radial spacing between the inner member 306 and the outer member 308. Additionally, the one or more radial members 310 may be formed of a spring-like material and configured to bias to a linear state. Accordingly, the one or more radial members 310 may be configured to bias the inner member 306 and the outer member 308 to a first position and return the inner member 306 and outer member 308 to a neutral position relative to one another.

[0084] The one or more torque sensors 312 can be embedded within or coupled to, at least in part, the outer knob portion 304. In some embodiments, the one or more torque sensors 312 can be positioned between the inner member 306 and the outer member 308. The one or more torque sensors 312 can include a capacitor or be a capacitive torque sensor. For example, the one or more torque sensors 312 may include capacitive elements, e.g., plates, configured to move relative to one another. The position of the one or more capacitive plates relative to each other may correspond to an applied torque. The one or more torque sensors 312 can measure the torque applied directly to the one or more outer knob portion 304 and / or the resistance experienced at the tip 116. The one or more torque sensors 312 can advantageously measure how much torque is applied to the one or more outer knob portion 304. The one or more torque sensors 312 can measure applied torque whether the outer knob portion 304 is driven manually or robotically. In some embodiments, the outer knob portion 304 may be controlled via a hybrid control using a motor to assist the manual movement. Additionally, the one or more torque sensors 312 may be used to sense what is happening normally under manual operation and / or two motors in the probe. In some embodiments, the one or more torque sensors 312 can be arranged in a torque sensing array 328. For example, the one or more torque sensors 312 can have three torque sensors equally spaced around the outer knob portion 304 and electrically connected via a flex band 330. The torque sensing array 328 is described in greater detail below.

[0085] The slot 314 can extend around the outer circumference of the outer knob portion 304. In some embodiments, the slot 314 can extend radially inward from the outer circumference of the outer knob portion 304 towards the inner member 306. For example, in some embodiments, the slot 314 can extend radially inwards from the outer surface of the outer member 308 towards the outer surface of the inner member 306. In some embodiments, the slot 314 may be sized to receive an engagement element. For example, the slot 314 may be sided to receive a cable or wire. In some embodiments, the slot 314 may include one or moreengagement features for engaging with an engagement element. The slot 314 may be used for complete or partial robotic control and / or drive assist. For example, an engagement element (e.g., a cable or wire) may extend within the slot 314 and engage an engagement feature. As the cable rotates, the outer knob portion 304 rotates thereby controlling the one or more inner knob portions 300A, 300B.

[0086] The one or more engagement surfaces 316 can extend around the outer circumference of the outer knob portion 304. The one or more engagement surfaces 316 can be cyclic or follow a pattern. In some embodiments, the one or more engagement surfaces 316 can be gripped by an operator for manual control of the one or more control knobs 132A, 136A. In some embodiments, the radial members 310 may couple to the outer member 308 at the one or more engagement surfaces 316.

[0087] The one or more protrusions 318 can extend radially inward from the inner surface of the outer knob portion 304 (e.g., the inner surface of the inner member 306). The one or more protrusions 318 can be configured to be received by the one or more notches 602, e.g., can have a shape corresponding to the inverse of, the one or more notches 302. The one or more protrusions 318 may be sized to be slidably received by the one or more notches 302. The one or more protrusions 318 can be configured to apply a torque onto the one or more inner knob portions 300A, 300B in an assembled state. In some embodiments, the outer knob portion 304 can include the same number of protrusions (tabs) 318 as the one or more inner knob portions 300A, 300B have notches (slots) 302.

[0088] FIG.5B shows another perspective view of a torque sensor 312 in the outer knob portion 304. As shown in FIG.5B, the one or more torque sensors 312 can further include a first plate 320, a second plate 322, a connector 324, and a capacitive chip 326.

[0089] The first plate 320 is one example of a first capacitive element. The first plate 320 can include one or more metallic surfaces configured to conduct electricity. In some embodiments, the one or more metallic surfaces may be pads.

[0090] The second plate 322 is one example of a second capacitive element. The second plate 322 can be the same or substantially similar to the first plate 320. For example, the second plate 322 can also include one or more metallic surfaces configured to conduct electricity. In some embodiments, the one or more metallic surfaces may be pads.

[0091] The connector 324 provides electrical connection between the capacitive elements and the processor such that the processor can detect capacitance of the plates and thereby determine angles and torque values as discussed herein.

[0092] The capacitive chip 326 can also be referred to as a processor. The capacitive chip 326 can be a processor or chip configured to read the electrical signals from the first and second plates 320, 322. The capacitive chip 326 may be configured to monitor a signal output by the one or more torque sensors 312 to determine a change in rotational position of the outer member 308 relative to the inner member 306. For example, the capacitive chip 326 can calculate the torque applied to the outer knob portion 304 via the measured capacitance of the first and second plates 320, 322 relative to one another.

[0093] The capacitor can be coupled with the outer member 308 and with the inner member 306. For example, as shown in FIG. 5B, the first plate 320 can be secured to and / or against the inner surface of the outer member 308 and the second plate 322 can be secured to and / or against the outer surface of the inner member 306. The inverse is also possible. In this arrangement, the first plate 320 may be parallel to the second plate 322 in a resting state. The first plate 320 can be physically connected to the second plate 322 via the connector 324. The neutral position of the first and second plates 320, 322 may correspond to zero or nominal applied torque. The first plate 320 and the second plate 322 can be secured to and / or against the inner member 306 and outer member 308, respectively.

[0094] The first plate 320 and the second plate 322 can be electrically connected to the capacitive chip 326. In some embodiments, a single capacitive chip 326 may be electrically connected to one or more torque sensors 312. For example, a single capacitive chip 326 can be electrically connected to three torque sensors 312.

[0095] Accordingly, the outer member 308 can move relative to the inner member 306 as a torque is applied to the outer member 308. The relative motion of the outer member 308 results in a change in alignment between the first plate 320 and the second plate 322. For example, the distance between the first plate 320 and the second plate 322 and / or the parallelism of the first plate 320 and the second plate 322 can change. The relative movement between the first plate 320 and the second plate 322 can be measured to determine the applied torque. For example, the stiffness of the radial members 310 can be known and the torque sensor 312 can detect an amount of displacement of the outer member 308 relative to the innermember 306. In some embodiments, the change in the geometrical average point between surfaces of the inner member 306 and the outer member 308 can be proportional to the rotation of the inner member 306 with respect to the outer member 308. From these known and detected parameters, the torque can be determined. In some embodiments, the capacitor can generate a signal output representing the change in alignment between the capacitor elements.

[0096] Having a plurality of torque sensors 312 positioned around the outer knob portion 304 can account for anomalies and / or provide redundancies to protect against a faulty sensor.

[0097] FIG. 5C is a perspective view of a torque sensing array 328. The torque sensing array 328 can include the one or more torque sensors 312 described above. Accordingly, each of the one or more torque sensors 312 can further include the first plate 320, the second plate 322, and / or the connector 324. The torque sensing array 328 can further include the capacitive chip 326 described above. The torque sensing array 328 can further include a flex band 330.

[0098] The flex band 330 can be an electrically conductive device. The flex band 330 can be configured to electrically connect to the one or more torque sensors 312 and / or the capacitive chip 326. The flex band 330 can have any desirable shape. For example, as shown in FIG. 5C, the flex band 330 can have a circular shape. The circular shape of the flex band 330 may correspond to the shape of the inner knob portion 300A, 300B and / or a portion of the outer knob portion 304. In some embodiments, the inner diameter of the flex band 330 may be greater than the outer diameter of the inner knob portion 300A, 300B. In such embodiments, the flex band 330 may be disposed on and / or within the outer knob portion 304. Accordingly, the outer knob portion 304 may provide structural support to the flex band 330. In one variation, the flex band 330 is configured to be coupled with the inner member 306 of the outer knob portion 304. The flex band 330 can be supported inward of the radial members 310, e.g., on the outer knob portion. The flex band 330 can have a radially outer edge that places the second plate 322 in a gap between the inner member 306 and the outer member 308. The second plate 322 can be supported on the inner member 306, e.g., a radially outwardly facing surface thereof. The first plate 320 can be supported on the outer member 308 directly facing the second plate 322 as discussed above. The second plate 322 can be supported from above by a radially extension of a cut portion of the outer periphery of the flex band 330. Specifically,a portion of the outer periphery of the flex band 330 can be straight corresponding to omitting a portion of the circular outer periphery. This can facilitate locating the second plate 322 in a recess of the radially outward facing surface of the inner member 306. The first plate 320 can be supported by the outer member 308. The plates can be coupled by the connector 324.

[0099] The one or more torque sensors 312 can be electrically and / or physically connected to the flex band 330. In some embodiments, the one or more torque sensors 312 are equidistantly positioned around the flex band 330. For example, as shown in FIG. 5A, three torque sensors 312 may be equidistantly positioned around the outer circumference of the flex band 330. The flex band 330 can be coupled with or can include one, two, three, four, five, six or more torque sensors 312. Having a plurality of torque sensors 312 can provide redundancy and can reduce or facilitate eliminating crosstalk.

[0100] The capacitive chip 326 can be electrically connected to the one or more torque sensors 312. In some embodiments, the capacitive chip 326 can be electrically connected to the one or more torque sensors 312 via the flex band 330.

[0101] The torque sensing array 328 can be disposed on one or more control knobs 132A, 136A. For example, in some embodiments, the torque sensing array 328 can be disposed on and / or within the outer knob portion 304. In such embodiments, the flex band 330 may extend around the circumference of the outer knob portion 304, e.g., around the inner circumference as discussed above.

[0102] FIG.5D illustrates a cross sectional view of a torque sensor 312. The torque sensor 312 can include the first plate 320 and the second plate 322 as described above. The first plate 320 can further include one or more conductive surfaces 321. For example, the first plate 320 can include a first conductor such as a first conductive surface 321A and a second conductor such as a second conductive surface 321B. The second plate 322 can include one or more conductors, e.g., one or more conductive surfaces 323. For example, the second plate 322 can include a single conductor, e.g., a single conductive surface 323.

[0103] The one or more conductive surfaces 321A, 321B can be electrically conductive. In some embodiments, the one or more conductive surfaces 321A, 321B can carry or accumulate an electric charge. The electric charges of the one or more conductive surfaces 321A, 321B can be different from one another. For example, the first conductive surface 321A can include a first charge and the second conductive surface 321B can include a second charge.The one or more conductive surfaces 321A, 321B can be negatively charged. The one or more conductive surfaces 321A, 321B can be positively charged.

[0104] The one or more conductive surfaces 321A, 321B can be disposed on a surface of the first and / or second plate 320, 322 facing the other plate. For example, as shown in FIG.5D, the one or more conductive surfaces 321A, 321B may be disposed on a surface of the first plate 320 facing the second plate 322. The one or more conductive surfaces 321, 321B may have a lateral gap 332 separating the one or more conductive surfaces 321A, 321B from each other. The one or more conductive surfaces 321A, 321B can have a surface area extending from a first end 334 to a second end 336.

[0105] The one or more conductive surfaces 323 can be electrically conductive. In some embodiments, the one or more conductive surfaces 323 can carry or accumulate an electric charge. The charge of the one or more conductive surfaces 323 can be different from one another and / or from the one or more conductive surfaces 321A, 321B. In some embodiments, the one or more conducive surfaces 323 can be grounded. For example, the one or more conductive surfaces 323 can be configured to absorb an electric current without changing its potential.

[0106] The total capacitance of each of the one or more conductive surfaces 321A, 321B can be determined by the sum of the capacitance at both ends of the respective one or more conductive surfaces 321A, 21B. For example, the capacitance can follow the equation: wherein “C” corresponds to the capacitance, “corresponds to therelative permittivity, “ o” corresponds to the vacuum permittivity (e.g., 8.854 x 10-12 F m-1),“A” corresponds to the area of the conductive surfaces 321A, 321B, “d1” corresponds to a first distance, and “d2” corresponds to a second distance. The first distance d1can be the distance between the first plate 320 and the second plate 322 at the first end 334. The second distance d2 can be the distance between the first plate 320 and the second plate 322 at the second end 336. The distance between the first plate 320 and the second plate 322 may define a gap. The gap may be devoid of any structure, e.g., occupied by air.

[0107] FIG. 5E illustrates a schematic view of a torque sensor 312. The torque sensor 312 can include a first plate 320 and a second plate 322, as described above. The first plate 320 can include one or more conductive surfaces 321. The one or more conductive surfaces 321 can be the same or similar to those described above. The second plate 322 caninclude one or more conductive surfaces 323. The one or more conductive surfaces 323 can be the same or similar to those described above. A gap may exist between the first plate 320 and the second plate 322. The gap may be unoccupied by other structures, e.g., may be occupied only by air. The plates can be radially positioned away from a center point and circumferentially displaced from a rest position by an application of torque. In some embodiments, the radial position of the one or more conductive surfaces 321 can correspond to the distance of the conductive surfaces 321 from the center of the flex band 330. Additionally, and / or alternatively, the radial position of the one or more conductive surfaces 321 can correspond to the distance of the conductive surfaces 321 from the center of the outer knob portion 304. The radial position of the one or more conductive surfaces 321 can correspond to the distance of the conductive surfaces 321 from the center of rotation of the inner knob portion or the outer knob portion 304. The radial position of the one or more conductive surfaces 321 can correspond to the distance of the conductive surfaces 321 from the center of rotation of the inner member 306 or the outer member 308.

[0108] As shown in FIG. 5E, the torque sensor 312 can be actuated such that at least one of the plates and / or conductive surfaces is rotated relative to the other of the plates and / or conductive surfaces. A rotational actuation may result from a tangentially applied force. For example, a human user may manually rotate a control knob by engaging the periphery of the control knob and rotating the control knob about its axis of rotation. Additionally, and / or alternatively, a robotic actuator may apply an actuation force to a control knob. For example, a motor may be operatively coupled to a control knob via a drive cable extending around the control knob. Accordingly, a rotation of the motor may result in a corresponding tangentially applied force where the drive cable engages the control knob. The rotation of the plates and / or one or more conductive surfaces can be about a central axis, e.g., an axis of rotation, of the flex band 330 and / or outer knob portion 304. The central axis can correspond to the axis of rotation of the outer knob portion 304. For example, as shown in FIG.5E, the plates and / or conductive surfaces may be rotated along a circumferential path positioned at a radius away from the central axis of the flex band 330 and / or outer knob portion 304.

[0109] Additionally and / or alternatively, the torque sensor 312 can be actuated such that at least one of the plates and / or conductive surfaces is translated relative to the other of the plates and / or conductive surfaces. A radial actuation may result from a radially appliedforce. For example, a motor may be operatively coupled to a control knob via a drive cable extending around the outer knob portion 304 of the control knob. Accordingly, a rotation of the motor may increase the tension in the drive cable between the motor and the control knob. The increased tension in the drive cable may act on the outer knob portion 304 and translate at least a portion of the outer knob portion 304 in the direction of the motor. The translation of the outer knob portion 304 may be a linear movement along or within a plane intersecting the outer knob portion 304 and the inner knob portion 300A. If the handle 104A is held horizontally (such that the axis of rotation of the knobs is vertical) the motion may be primarily or entirely in a horizontal plane and may be detected or analyzed as having X and Y components. Accordingly, the translation of the outer knob portion 304 (e.g., in the X or Y direction within a horizontal plane or in a plane perpendicular to the axis of rotation of the knob (s)) may adjust the radial distance, or gap, between the first plate 320 and the second plate 322 of at least one torque sensor 312.

[0110] In some embodiments, one or more X-Y motion sensors may detect the translation of the outer knob portion 304, e.g., in the X and / or Y direction in a plane perpendicular to the axis of rotation of the knob portion 304. For example, the one or more sensors may detect translation of the outer knob portion 304 within the X-Y plane relative to the inner knob portion 300A. Accordingly, the radial distance, or gap, between the plates and / or conductive surfaces of the inner knob portion 300A and the outer knob portion 304 can be measured. In some embodiments, the one or more X-Y sensors may be different from the one or more torque sensors 312. In some embodiments, the one or more X-Y sensors may be integrated into or the same as the one or more torque sensors 312. In some embodiments, the sensor 312 can measure forces in the X and Y directions alone or in combination with measuring the circumferential forces as related to the applied torque. X-Y forces can be calculated as or be related to ratios of the capacitances of the three sensors 312. Thus, the sensor 312 can be a three degree of freedom force sensor in some embodiments. The change in the radial distance, or gap, between the plates and / or conductive surfaces of the inner knob portion 300A and the outer knob portion 304 can indicate whether the drive cable is appropriately tensioned. A control system can correlate a tension in the drive cable with a corresponding translation of the outer knob portion 304. In some embodiments, the control system can compare an anticipated translation of the outer knob portion 304 based on anexpected tension in the drive cable to a measured translation of the outer knob portion 304. A difference between the anticipated translation and the measured translation of the outer knob portion 304 can indicate a difference between the expected tension and the actual tension experienced by the drive cable. A difference between the expected and actual tension in the drive cable may further indicate a structural change or issue with the drive cable and / or motor. Accordingly, the control system can output an indication representing a discrepancy between the expected and actual tension in the drive cable. For example, the control system can inform a human user to perform maintenance on or replace the motor and / or drive cable.

[0111] The change in rotational position of the first plate 320 relative to the second plate 322 can be measured by the change of the gap at the ends 334, 336 of the one or more conductive surfaces 321. A new distance between the first plate 320 and the second plate 322at the first end 334 can follow the following relationship: sin ,wherein “Dangled” corresponds to the new distance, “D1” corresponds to the initial distance at the first end, “r” corresponds to the radius—or distance between the center of the flex band 330 and / or outer knob portion 304 and the one or more conductive surfaces 321, and “angle” corresponds to the angle the one or more conductive surfaces 321 is deflected about a central axis of the flex band 330 and / or outer knob portion 304. A new distance between the first plate320 and the second plate 322 at the second end 336 can follow the following relationship:sin , wherein “D2” corresponds to the initial distance at the secondend. The angle can have the following relationship: , wherein , “D1” corresponds to the initial distance at the first end, “D2” corresponds to the initial distance at the second end, and k is a constant having the following relationships: or , wherein “C1” corresponds to a capacitance at a first position, and “C2” corresponds to a capacitance at a second position.

[0112] When the first plate 320 and the second plate 322 are parallel, the capacitances of the one or more conductive surfaces 321A, 321B are equal. The angle introduced by applied torque alters the capacitances. For example, the angle introduced by the torque applied may increase the capacitance at a first position and may decrease the capacitance at a second position. In some embodiments, the first position may relate to one of the one or more conductive surfaces 321A, 321B and the second position may relate to another one of the one or more conductive surfaces 321A, 321B. The ratio of the capacitance can be representedby the equation: , wherein “C1” corresponds to a capacitance at a first position, and “C2” corresponds to a capacitance at a second position. This relationship produces a completely linear response vs applied torque. Accordingly, the ratio of capacitances makes it temperature and humidity independent. Thus, an accurate measurement can be determined regardless of the temperature and / or humidity.

[0113] Additionally, the effect of the radial forces may be compensated for with the following relationship: , wherein “C1” corresponds to a capacitance at a firstposition, and “C2” corresponds to a capacitance at a second position. This relationship produces a completely linear response vs applied torque and is only dependent on the torque or tangentially applied forces. This relationship also provides an accurate measurement regardless of the temperature and / or humidity.

[0114] FIG. 5F illustrates a chart relating an output of a torque sensor (e.g., the ratio of capacitances) to the angle of deflection resulting from the application of torque to the torque sensor. As shown in FIG. 5F, there is a completely linear relationship between the sensor output and angle of deflection as described above. There is no resulting angle of deflection when torque is not applied resulting in equal capacitances (C1= C2). Accordingly, the ratio of capacitances is zero. As torque is applied in a first direction causing a positive angle of deflection, the torque sensor can output a positive value. By comparison, as a torque is applied in a second direction opposite the first direction causing a negative angle of deflection, the torque sensor can output a negative value.

[0115] FIGS.5G and 5H illustrate a torque sensing array 328A. The torque sensing array 328A is a modified embodiment to the torque sensing array 328 described above. The torque sensing array 328A can include the one or more torque sensors 312 described above. Accordingly, each of the one or more torque sensors 312 can further include the first plate 320, the second plate 322, and / or the connector 324. The connector 324 can be flexible such that the first plate 320 can be positioned over a corresponding second plate 322. The torque sensing array 328 can further include the capacitive chip 326 described above. The torque sensing array 328 can further include a flex band 330A.

[0116] The flex band 330A is an alternative embodiment of the flex band 330 described above. For example, the flex band 330A can be similar to the flex band 330described above in a linear form. Accordingly, the flex band 330A can be an electrically conductive device. The flex band 330A can be configured to electrically connect to the one or more torque sensors 312 and / or the capacitive chip 326. The flex band 330A can extend linearly. The flex band 330A can be flexible such that the flex band 330A can be deformed into another desirable shape. In some embodiments, as shown in FIG.5H, the flex band 330A can be folded to conform to the shape of a portion of the outer knob portion 304. For example, the flex band 330A can be folded into a non-linear shape. The non-linear shape of the flex band 330 may correspond to the shape of a portion of the inner knob portion 300A, 300B and / or a portion of the outer knob portion 304. As shown in FIG.5H, the flex band 330A may be disposed on and / or within a portion of the outer knob portion 304. Accordingly, the outer knob portion 304 may provide structural support to the flex band 330A. In one variation, the flex band 330A is configured to be coupled with the inner member 306 of the outer knob portion 304. The flex band 330A can be supported inward of the radial members 310, e.g., on the outer knob portion. The flex band 330A can have a first edge that places the second plate 322 in a gap between the inner member 306 and the outer member 308. The capacitive chip 326 can be located at or adjacent to a terminal end of the flex band 330A. One advantage of the flex band 330A is that it can have a simple linear configuration when formed, providing for more a compact configuration in manufacturing.

[0117] FIG.6 is an electrical diagram of electrical connections in a control system 338 configured to control the TEE probe 100 described above and / or components of a robotic system using the TEE probe 100. The control system 338 can include a controller 340. FIG. 6 shows that the control system 338 can include several sensors providing inputs to the controller 340. In some variations, less than all of the sensors can be provided. For example, the controller can be coupled to a torque sensor. In some embodiments, the control system 338 can include a first set of one or more torque sensors 312A. In some embodiments, the control system 338 can include a second set of one or more torque sensors 312B. The one or more torque sensors 312A can be added to an otherwise manual system—which may be referred to as “sensorization.” Combining one or both of the one or more torque sensors 312A, 312B can provide data about manual use of a TEE probe 100. In some embodiments, the one or more torque sensors 312A, 312B can provide a digital input to the controller 340 corresponding to a manual input from a human user. For example, the one or more torque sensors 312A, 312Bmay output a signal to the controller 340 representing the measured torque measured in response to a rotation of the one or more control knobs 132A, 136A by the human user. In some embodiments, the control system 338 can include a handle inertial measuring unit (IMU) 342. In some embodiments, the control system 338 can include a first set of one or more encoders 380A-1, 380A-2. In some embodiments, the control system 338 can include a second set of one or more encoders 380B-1, 380B-2. In some embodiments, the control system 338 can include a robotic arm element 344. In some embodiments, the control system 338 can include a handle 346. In some embodiments, the control system 338 can include one or more control knobs 348. In some embodiments, the control system 338 can include an ultrasound transducer 350.

[0118] The controller 340 may be configured to receive one or more inputs, calculate outputs passed on the one or more inputs, and transmit one or more outputs. In some embodiments, the controller 340 may be located within the handle 104 described above. In other embodiments, the controller 340 can be located in a console configured to process ultrasound signals and / or in a robotic system configured to position the TEE probe 100.

[0119] The first set of one or more torque sensors 312A can be the same or similar to the one or more torque sensors 312 described above. In some embodiments, the first set of one or more torque sensors 312A may be coupled to a first control knob 132A or a second control knob 136A. For example, the first set of one or more torque sensors 312A may be coupled to a first outer knob portion configured to engage a first inner knob portion. The first set of one or more torque sensors 312A can be configured to measure the applied torque onto the first control knob of the handle 104 and / or the torque experienced at the tip 116. In some embodiments, the first set of one or more torque sensors 312A can sensorize a manual TEE probe by modifying a manual TEE probe to include the first set of one or more torque sensors 314A. For example, the first set of one or more torque sensors 312A can be a bolt on feature. Adding the first set of one or more torque sensors 312A through sensorization can provide additional value to a traditional TEE probe by measuring manual input torque by a human user.

[0120] The second set of one or more torque sensors 312B can be the same or similar to the one or more torque sensors 312 and / or the first set of one or more torque sensors 312A described above. In some embodiments, the second set of one or more torque sensors 312B may be coupled to a second control knob 132A, 136A. For example, the second set ofone or more torque sensors 312B may be coupled to a second outer knob portion configured to engage a second inner knob portion. The second set of one or more torque sensors 312B can be configured to measure the applied torque onto the second control knob of the handle 104 and / or the torque experienced at the tip 116. In some embodiments, the second set of one or more torque sensors 312B can sensorize a manual TEE probe by modifying a manual TEE probe to include the second set of one or more torque sensors 314B. For example, the second set of one or more torque sensors 312B can be a bolt on feature. Adding the second set of one or more torque sensors 312B through sensorization can provide additional value to a traditional TEE probe by measuring manual input torque by a human user.

[0121] The handle IMU 342 can include an inertia measurement unit (e.g., one or more accelerometers and one or more gyroscopes) disposed within the handle 104 and configured to measure the specific force, angular rate, and / or orientation of the handle 104. In some embodiments, the handle IMU 342 can be added to a TEE probe to provide spatial position information to the controller 340. For example, the handle IMU 342 can be used to determine one or both of position and orientation of the TEE probe 100 relative to other components of a robotic system and / or a patient. The handle IMU 342 can capture information relating to the position or orientation of the handle 104 in space relative to a patient, an operating table, and / or the robotic arm element 344. In some embodiments, the handle IMU 342 can include proximity sensors for detecting objects within a proximity of the handle 104. In some embodiments, the handle IMU 342 may sense an approach toward a patient. The handle IMU 342 may disable mechanized components such as the motors 180A, 180B as the TEE probe approaches the patient.

[0122] The first set of one or more encoders 380A-1, 380A-2, can be encoders within the first motor 180A described above. The first set of one or more encoders 380A-1, 380A-2 can measure one or more positions of the first motor 180A. For example, the encoder 380A-1 can measure the position of an output shaft of the motor 180A and the encoder 380A- 2 can measure the position of an output shaft of the motor or of a gearbox coupled with the motor. Each of the encoders 380A-1, 380A-2 can provide signals to improve the performance of the control system 338.

[0123] The second set of one or more encoders 380B-1, 380B-2, can be encoders within the second motor 180B described above. The second set of one or more encoders 380B-1, 380B-2 can measure one or more positions of the second motor 180B. For example, the encoder 380B-1 can measure the position of an output shaft of the motor 180B and the encoder 380B-2 can measure the position of an output shaft of the motor or of a gearbox coupled with the motor. Each of the encoders 380B-1, 380B-2 can provide signals to improve the performance of the control system 338.

[0124] The robotic arm element 344 can be a robotic device configured to receive the handle 104 and / or manipulate at least a portion of the flexible shaft 120 of the TEE probe 100. In some embodiments, the robotic arm element 344 can be configured to control one or more degrees of freedom of the TEE probe 100. For example, the robotic arm element 344 can translate and / or rotate the handle 104. Additionally, in some embodiments, the robotic arm element 344 can further include distal control elements for causing motion at the distal end of the flexible shaft 120 of the TEE probe 100.

[0125] The handle 346 can be the same or similar to the handle 104, 104a described above. The handle 346 can provide a platform to drive the TEE probe 100. In some embodiments, the handle 346 can receive proximity information from or send proximity information to objects within a proximity of the handle 346. In some embodiments, the handle 346 can be configured to respond to objects within its proximity. For example, upon detecting proximity to the robotic arm element 344, a processor in the handle 346 may perform a pre- connection routine. In another example, upon detecting proximity to the robotic arm, a processor in the handle 346 or in the robotic arm element 344 may cause the robotic arm element 344 to prepare to receive the handle 346. The use of proximity sensing may enable one or more set-up steps to be performed by the control system 338 without requiring a user to directly perform such steps. The proximity signals can also cause a processor to perform a validation step to confirm that two or more of the handle 346, the knobs 348, the ultrasound transducer 350 and the robotic arm element 344 are suitable for use together in an assembly.

[0126] The knobs 348 can be the same or similar to the one or more control knobs 132, 136 described above. The knobs 348 can control the yaw and pitch of the flexible shaft 120 as it is inserted through a patient’s esophagus and / or when the tip 116 is positioned within the patient’s stomach. In some embodiments, the knobs 348 can be manually controlled by a human operator. In some embodiments, the knobs 348 can be robotically controlled by the motors 180A, 180B via the controller 340. In some embodiments, the knobs 348 can becontrolled by a hybrid system incorporating a drive assist where a manual control of a human operator is assisted by the motors 180A, 180B. Modifying a manual TEE probe to include the motors 180A, 180B can provide machine control. Machine control can implement drive assist features such as power steering. For example, drive assist can be achieved by including the motors 180A, 180B with a transmission. For example, a cycloid motor may be mounted to a TEE probe such that the output of the cycloid motor is operatively coupled to the knobs 348. Accordingly, the actuation of the cycloid motor can control the corresponding actuation of a control knob 348. Adding the one or more motors 180A, 180B for machine control can provide additional value to a traditional TEE probe by providing drive assist to the human user. Furthermore, adding the one or more motors 180A, 180B can provide additional value to a traditional TEE probe by providing a fully robotic system. A fully robotic system may combine the modified TEE probe with a robot to provide additional controls.

[0127] The ultrasound transducer 350 can be incorporated into the tip 116 described above. The ultrasound transducer 350 can be controlled to emit and / or receive ultrasound energy from the tip 116. In some embodiments, the ultrasound transducer 350 may be used to capture ultrasound images of the patient’s internal anatomy. For example, the tip 116 can be positioned within a patient’s stomach to direct an ultrasound beam toward the patient’s heart via the mechanical elements within the flexible shaft 120.

[0128] The first set of one or more torque sensors 312A, the second set of one or more torque sensors 312B, the handle IMU 342, the first set of one or more encoders 380A-1, 380A-2, the second set of one or more encoders 380B-1, 380B-2, the robotic arm element 344, the handle 346, the knobs 348, and the ultrasound transducer 650 can be electrically connected to the controller 340. As described above, the controller 340 can be configured to receive one or more inputs and transmit one or more outputs. In some embodiments, the first set of one or more torque sensors 312A, the second set of one or more torque sensors 312B, the handle IMU 342, the first set of one or more encoders 380A-1, 380A-2, and the second set of one or more encoders 380B-1, 380B-2 can provide inputs to the controller 340. In some embodiments, the robotic arm element 344, the handle 346, the knobs 348, and the ultrasound transducer 350 can receive the outputs of the controller 340. Accordingly, the controller 340 can use one or more of the first set of one or more torque sensors 312A, the second set of one or more torque sensors 312B, the handle IMU 342, the first set of one or more encoders 380A-1, 380A-2, and thesecond set of one or more encoders 380B-1, 380B-2 to control one or more of the robotic arm element 344, the handle 346, the knobs 348, and the ultrasound transducer 350.

[0129] FIGS. 7A-7I illustrate a second embodiment of systems and methods for sensing applied torque to a control knob of a TEE probe.

[0130] FIG. 7A illustrates a top view of an adapter element 700 with an engagement device for receiving the one or more control knobs of the TEE probe.

[0131] The one or more control knobs can include a control knob 702. The control knob 702 can be representative of the one or more control knobs described herein. The control knob 702 can include, as an example, a gripping surface. The gripping surface can be configured to be grasped and / or manipulated. The gripping surface can resist slipping. For example, the gripping surface can include a plurality of protrusions 704. For example, as shown in FIG. 7A, the control knob 702 can include a plurality of protrusions 704 extending radially outward from a central portion of the control knob 702. In some examples, the radial distance which the plurality of protrusions can extend outward from the central portion of the first control knob can be a first radius R1. The plurality of protrusions 704 can include any number of protrusions. In some examples, the plurality of protrusions 704 can be equally spaced along an annular path around the control knob 702. Alternatively, the gripping surface may not include the protrusions 704. The control knob 702 can comprise another non-round shape, such as a star shape, one or more radial projections, a lever or other device able to receive a torque. In some examples, the gripping surface can include textures or materials to resist slipping. For example, the gripping surface can include a rough texture. Additionally and / or alternatively, the gripping surface can be a rubber surface.

[0132] The adapter element 700 can include one or more engagement devices 706. In some examples, the one or more engagement devices 706 can be the same or similar to the outer knob portion 304 described herein with reference to FIG.5A. In some examples, the one or more engagement devices 706 can be the same or similar to the one or more engagement surfaces 162A described herein with reference to FIG. 3B. Accordingly, the one or more engagement devices 706 can be configured to receive a control knob, apply rotational motion to the control knob, and / or measure torque applied to the control knob. In some examples, the control knob 702 can rotate at least partially relative to the engagement device 706. For example, the engagement device 706 can rotate in a first direction and can transfer the rotationto the control knob 702 thereby rotating the control knob in the same direction. A flexible connection between the engagement device 706 and the control knob 702 can result in the control knob 702 rotating less than the engagement device 706 by at least a few degrees. The differential in rotation can be detected by a sensing device and the detected differential can be used to measure torque applied by the engagement device 706 to the control knob 702.

[0133] The one or more engagement devices 706 can include a radially outer surface 708 and a radially inner surface 710. The radially outer surface 708 can have a second radius R2. The radially inner surface 710 can have a third radius R3. The radially inner surface 710 can define an opening extending through the one or more engagement devices 706. The second radius R2 can be greater than the first radius R1 of the control knob 702 and the third radius R3 of the radially inner surface 710. In some examples, the third radius R3 can be smaller than the first radius R1 of the control knob 702. The radially inner surface 710 can have a shape that is a negative shape of the outer periphery of the control knob 702, e.g., an inner circular periphery to correspond to an outer circular periphery and other negative shapes as will be apparent to one skilled in the art. Accordingly, the one or more engagement devices 706 can be sized to receive at least one of the one or more control knobs, respectively.

[0134] FIG. 7B illustrates a top view of the adapter element 700 of FIG. 7A with torque sensing for measuring the torque applied to the one or more control knobs of the TEE probe.

[0135] The adapter element 700 can further include a torque sensor 712. The torque sensor 712 can further include a first portion 714, a second portion 716, and one or more intermediate portions 718. The torque sensor 712 can be a unitary body having the first portion 714, the second portion 716, and the one or more intermediate portions 718.

[0136] The first portion 714 can be coupled to the one or more engagement devices 706. In some examples, the first portion 714 can be fixedly secured to the one or more engagement devices 706 such that the first portion 714 is rotatably fixed relative to the one or more engagement devices 706. For example, the first portion 714 can include a plurality of openings 720. The plurality of openings 720 can be configured to receive a fastener. In some examples, the plurality of openings 720 can be through holes. In some examples, the through holes can include a smooth surface. Alternatively, the through holes can include threading. The fastener can extend through the first portion 714 and into the one or more engagementdevices 706. For example, the fastener can be a pin or an elongated threaded element. In some examples, the first portion 714 can be adhered to the one or more engagement devices 706.

[0137] The second portion 716 can be configured to engage the control knob 702. In some examples, the first portion 714 can be configured to transfer rotational motion of engagement devices 706 to the control knob 702. For example, the second portion 716 can include one or more engagement elements. The engagement elements can be positioned along a radially inward surface of the second portion 716. The engagement elements can be positioned adjacent to the plurality of protrusions 704 such that rotational motion of the second portion 716 can be transferred to the control knob 702 via the interaction of the engagement elements and the protrusions 704. The engagement elements can include a first contact surface 722A and a second contact surface 722B. The first contact surface 722A can be annularly separated from the second contact surface 722B by a distance sized for accommodating at least one of the plurality of protrusions 704. In some examples, the first contact surface 722A can abut a counterclockwise facing surface or a clockwise facing surface of the at least one of the plurality of protrusions 704. The second contact surface 722B can abut the opposite facing surface of the first engagement element. For example, the second engagement element can abut a clockwise facing surface or a counterclockwise facing surface of the at least one of the plurality of protrusions 704. For example, as shown in FIG.7B, the first contact surface 722A can be annularly separated from the second contact surface 722B by a distance configured to accommodate a single protrusion 704. Accordingly, the first contact surface 722A can abut the counterclockwise facing surface of the protrusion 704 and the second contact surface 722B can abut the clockwise facing surface of the protrusion 704. In some examples, the first contact surface 722A can abut a counterclockwise facing surface of a first protrusion and the second contact surface 722B can abut a clockwise facing surface of a second protrusion. Thus, the engagement elements can be positioned to abut a counterclockwise facing surface and a clockwise facing surface of the plurality of protrusions 704, or vice versa, simultaneously.

[0138] The intermediate portions 718 can extend between the first portion 714 and the second portion 716. The intermediate portions 718 can be thin-walled segments or otherwise be flexible. Accordingly, the intermediate portions 718 can flex to accommodate relative motion between the first portion 714 and the second portion 716. The intermediate portions 718 can transfer rotational motion from the first portion 714 to the second portion716. In some examples, the second portion 716 may encounter rotational resistance resulting in a deflection of the intermediate portions 718. Accordingly, the control knob 702 can rotate at least partially relative to the engagement device 706 in response to the flex of the intermediate portions 718. For example, the control knob 702 may rotate in a same direction as the engagement device 706 but by a lesser amount.

[0139] FIG. 7C is a side cross-sectional view of the adapter element with torque sensing of FIG. 7B. The one or more engagement devices 706 can further include a curved surface 724, one or more openings 726, and an annular groove 728.

[0140] The curved surface 724 can be positioned along a surface of the one or more engagement devices 706 facing the control knob 702. In some examples, the control knob 702 can be axially disposed within a volume defined by the one or more engagement devices 706. As shown in FIG. 7C, the control knob 702 can be positioned within the volume defined by the one or more engagement devices 706 without physically contacting the engagement devices 706. Instead, the curved surface can accommodate a volume for receiving the control knob 702.

[0141] The openings 726 can be channels or through holes extending at least partially through the one or more engagement device 706. The openings 726 can align with a corresponding opening 720 of the torque sensor 712. In some examples, the channels or through holes can include a smooth surface. Alternatively, the channels or through holes can include threading. Accordingly, a fastener can extend through the openings 720 of the torque sensor 712 and into the corresponding openings 726 of the one or more engagement device 706. Thus, the torque sensor 712 can be coupled and rotationally fixed relative to the one or more engagement device 706.

[0142] The annular groove 728 can be a radially inward depression or groove extending annularly around the one or more engagement device 706. The annular groove 728 can be configured for receiving a transmission element. The transmission element can be configured to provide a rotational motion to the one or more engagement device 706. In some examples, the transmission element can be a belt or a cable extending at least partially annularly around the one or more engagement device 706 via the annular groove 728.

[0143] FIG.7D is a cross-sectional view of the adapter element with torque sensing of FIG.7C along section A-A.

[0144] As shown in FIGS. 7D-7E, the engagement elements can be positioned adjacent to a protrusion 704 such that rotational motion of the torque sensor 712 can be transferred to the control knob 702 via the interaction of the first contact surface 722A and the second contact surface 722B with the protrusion 704. In some examples, a gap 723 can be present between the first contact surface 722A and the second contact surface 722B and the protrusions 704. The gap 723 can add a draft to the first contact surface 722A and the second contact surface 722B to increase the contact area. For example, the engagement elements may be arranged at an angle . The angle may correspond to the contour of the protrusion 704. The angle can be between 1-5 degrees. For example, the angle can be about 2.5 degrees.

[0145] FIGS. 7F-7G are perspective views of the torque sensor 712 of the adapter element 700 with the torque sensing of FIG.7B.

[0146] As shown in FIGS. 7F-7G, the first portion 714 can be separated from the second portion 716. For example, a radial gap 730 can radially separate the first portion 714 from the second portion 716. Annular gaps 732 can annularly separate the first portion 714 from the second portion 716. The intermediate portion 718 can bridge the radial gap 730 to couple the second portion 716 to the first portion 714. The annular gaps 732 can permit relative annular motion between the first portion 714 and the second portion 716.

[0147] The torque sensor 712 can further include one or more capacitors. The one or more capacitors can be the same or similar to the capacitor described herein with reference to FIGS. 5A-5H. For example, the one or more capacitors can be organized into pairs. As shown in FIG.7G, the torque sensor 712 can include two pairs of capacitor plates. The torque sensor 712 can be similar to the torque sensors described herein with reference to FIGS. 5A- 5H except for the differences described herein. For example, the torque sensors described herein with reference to FIGS.5A-5H can provide the capacitor plates in a radial arrangement. By comparison, the torque sensor 712 can provide the capacitor plates in an annular arrangement.

[0148] Each capacitor can include a first plate 734, a second plate 736, a connector 738, and a capacitive chip 740.

[0149] The first plate 734 is one example of a first capacitive element. The first plate 734 can be the same or similar to the first plate 320 described herein with reference to FIGS. 5A-5H. Accordingly, the first plate 734 can include one or more metallic surfacesconfigured to conduct electricity. In some embodiments, the one or more metallic surfaces may be pads.

[0150] The second plate 736 is one example of a second capacitive element. The second plate 736 can be the same or similar to the second plate 322 described herein with reference to FIGS.5A-5H. Accordingly, the second plate 736 can be the same or substantially similar to the first plate 734. For example, the second plate 736 can also include one or more metallic surfaces configured to conduct electricity. In some embodiments, the one or more metallic surfaces may be pads.

[0151] The connector 738 can be the same or similar to the connector 324 described herein with reference to FIGS. 5A-5H. Accordingly, the connector 738 can provide an electrical connection between the capacitive elements and a processor such that the processor can detect capacitance of the plates and thereby determine angles and torque values as discussed herein.

[0152] The capacitive chip 740 can also be referred to as a processor. The capacitive chip 740 can be the same or similar to the capacitive chip 326 described herein with reference to FIGS. 5A-5H. Accordingly, the capacitive chip 740 can be a processor or chip configured to read the electrical signals from its respective first and second plates 734, 736. For example, the chip 740 may be a capacitance to digital converter, microcontroller, and so on. The capacitive chip 740 may be configured to monitor a signal output by the one or more torque sensors 712 to determine a change in rotational position of the first portion 714 relative to the second portion 716. For example, the capacitive chip 740 can calculate the torque applied to the one or more engagement device 706 via the measured capacitance of the first plates 734 and the second plates 736 relative to one another.

[0153] Each capacitor can be coupled with the first portion 714 and with the second portion 716. For example, as shown in FIG. 7G, the first plate 734 can be secured to and / or against the inner surface of the second portion 716 and the second plate 736 can be secured to and / or against the outer surface of the first portion 714. The inverse is also possible. In this arrangement, the first plate 734 may be parallel to the second plate 734 in a resting state. The first plate 734 can be physically connected to the second plate 736 via the connector 738. The neutral position of the first plate 734 and the second plate 736 may correspond to zero or nominal applied torque.

[0154] The first plate 734 and the second plate 736 can be electrically connected to the capacitive chip 740. In some embodiments, a single capacitive chip 740 may be electrically connected to one or more pairs of capacitor plates. For example, a single capacitive chip 740 can be electrically connected to both pairs of capacitor plates.

[0155] Accordingly, the first portion 714 can move relative to the second portion 716 as a torque is applied to the one or more engagement device 706. The relative motion of the first portion 714 results in a change in alignment between the first plate 734 and the second plate 736. For example, the distance between the first plate 734 and the second plate 736 and / or the parallelism of the first plate 734 and the second plate 736 can change as described herein with reference to FIGS.5A-5H. The relative movement between the first plate 734 and the second plate 736 can be measured to determine the applied torque. For example, the stiffness of the intermediate portions 718 can be known and the torque sensor 712 can detect an amount of displacement of the first portion 714 relative to the second portion 716. In some embodiments, the change in the geometrical average point between surfaces of the first portion 714 and the second portion 716 can be proportional to the rotation of the first portion 714 with respect to the second portion 716. From these known and detected parameters, the torque can be determined. In some embodiments, the capacitor can generate a signal output representing the change in alignment between the capacitor elements.

[0156] FIG.7H is a perspective view of the adapter element with torque sensing of FIG.7B. As shown in FIG.7H, the annular groove 728 can include a plurality of ridges. The plurality of ridges 742 can provide a gripping surface for a transmission element. For example, the plurality of ridges 742 can provide a non-slip surface for a belt.

[0157] FIG. 7I is a top view of a torque sensing array 744. The torque sensing array 744 can include the capacitors used with the torque sensor 712 described herein. For example, the torque sensing array 744 can include the two pairs of capacitors each including the first plate 734, the second plate 736, the connector 738, and the capacitive chip 740. The torque sensing array 744 can further include a flex band 746.

[0158] The flex band 746 can be a flexible body for receiving and electrically coupling the elements of the capacitor together. The flex band 746 can include a plurality of pads to receive the plates and capacitive chips. The flex band 746 can further include a plurality of bendable portions for preparing the torque sensing array 744 to be coupled to thetorque sensor 712. For example, the flex band 746 can include a first pad 748, a second pad 750, a central portion 752, and a third pad 754. The first pad 748 can be separated from the second pad 750 by a first fold region 756. The second pad can be separated from the central portion 752 by a second fold region 758. The third pad 754 can be separated from the central portion 752 by a third fold region 760. The first pad 748 can be configured to receive the first plate 734. The second pad 750 can be configured to receive the second plate 736. The third pad 754 can be configured to receive the capacitive chip 740. The body of the flex band 746 can incorporate the connector 738.

[0159] The flex band 746 can be folded about the first fold region 756, the second fold region 758, and the third fold region 760 to arrange the torque sensing array 744 in an arrangement that can fit within the torque sensor 712. For example, the first pad 748 can be folded about the first fold region 756 to arrange the first plate 734 in parallel with the second plate 736. The first pad 748 and the second pad 750 can be folded together about the second fold region 758 to fit within the annular gaps 732. The central portion 752 can be inserted within the radial gap 730. The flex band 746 can bend about the third fold region 760 to arrange the capacitive chip 740 in a desired position.

[0160] FIGS. 8A-8E illustrate a third embodiment of systems and methods for sensing applied torque to a control knob of a TEE probe.

[0161] FIGS.8A-8D illustrate an adapter element 800 with an engagement device for receiving the one or more control knobs of the TEE probe. In some embodiments, the one or more control knobs can include a control knob 802. The control knob 802 can be representative of the one or more control knobs. The control knob 802 can be any control knob for controlling actuation of a TEE probe.

[0162] The adapter element 800 can include one or more engagement devices 804. In some examples, the one or more engagement devices 804 can be the same or similar to the outer knob portion 304 described herein with reference to FIG.5A. In some examples, the one or more engagement devices 804 can be the same or similar to the one or more engagement surfaces 162A described herein with reference to FIG. 3B. Accordingly, the one or more engagement devices 804 can be configured to receive a control knob, apply rotational motion to the control knob, and / or measure torque applied to the control knob. As shown in FIG.8A,the control knob 802 can be disposed within the engagement devices 804. In some examples, the control knob 802 can be rotationally fixed relative to the engagement devices 804.

[0163] The one or more engagement devices 804 can include a radially outer surface 806. In some examples, the one or more engagement devices 804 can further include an annular groove 808. The annular groove 808 can be the same or similar to the annular groove 728 described herein with reference to FIGS. 7C and 7H. Accordingly, the annular groove 728 can be a radially inward depression or groove extending annularly around the one or more engagement devices 804. The annular groove 808 can be configured for receiving a transmission element 810.

[0164] The transmission element 810 can be configured to provide a rotational motion to the one or more engagement devices 804. In some examples, the transmission element can be a belt or a cable extending at least partially annularly around the one or more engagement devices 804. The transmission element 810 can be pressed against the one or more engagement devices 804 via a roller 812. In some embodiments, the transmission element 810 can be configured to extend around a pulley 814. The pulley 814 can be coupled to a base support. In some examples, the base support can be or can include the cover 160a. The transmission element 810 can experience tension in operation. In some examples, the tension within the transmission element 810 may be non-constant and / or non-uniform. For example, a first side of the transmission element 810 relative to the engagement devices 804 can experience a first tension T1 in use. A second side of the transmission element 810 opposite the first side can experience a second tension T2 in use. The tension within the transmission element 810 can fluctuate based on the direction of motion of the transmission element 810. For example, the first tension T1 can increase and the second tension T2 can relax when the transmission element 810 travels counterclockwise, and / or vice versa.

[0165] The adapter element 800 can further include a torque sensor 816 for measuring applied torque based on the instantaneous tension within the transmission element 810. The torque sensor 816 can include a load cell 818 and a linear driver 820.

[0166] The load cell 818 can include a first portion 822, a second portion 824, and one or more intermediate portions 826.

[0167] The first portion 822 can be coupled to the base support. As described herein, the base support can be or can include the cover 160a. In some examples, the firstportion 822 can be fixedly secured to the base support such that the first portion 822 is both linearly and rotatably fixed relative to the base support. For example, the first portion 822 can include a plurality of openings 828. The plurality of openings 828 can be configured to receive a fastener. The fastener can extend through the first portion 822 and into the base support. For example, the fastener can be a pin or a screw or another an elongated threaded element. In some examples, the first portion 822 can be adhered to the base support.

[0168] The second portion 824 can be coupled to the linear driver 820. The second portion 824 can be configured to be displaced relative to the first portion 822 in response to a movement of the linear driver 820.

[0169] As shown in FIG. 8B, the second portion 824 can include one or more openings 834. The one or more openings 834 can be configured to receive a fastener. The fastener can extend through the second portion 824 and into the body portion 830 of the linear driver 820. For example, the fastener can be a pin or an elongated threaded element (e.g., a screw). In some examples, the second portion 824 can be adhered to the linear driver 820. In some examples, the second portion 824 can be otherwise secured to the linear driver 820.

[0170] The intermediate portions 826 can extend between the first portion 822 and the second portion 824. The intermediate portions 826 can be thin-walled segments or otherwise be flexible. Accordingly, the intermediate portions 826 can flex to accommodate relative motion between the first portion 822 and the second portion 824. The linear of the second portion 824 relative to the first portion 822 may result in a deflection of the intermediate portions 826.

[0171] The linear driver 820 can include a body portion 830 and two rollers 832. As described herein, the linear driver 820 can be displaced, translated, and / or deformed in response to changes in tension within the transmission element 810. For example, the linear driver 820 can be configured to translate in a direction tangential to the control knob 802. In some examples, the linear driver 820 can be displaced or can translate in a direction orthogonal to a neutral position of the intermediate portions 826. The linear translation of the linear driver 820 can cause a relative displacement between the first portion 822 and the second portion 824 of the load cell 818.

[0172] The body portion 830 can be a linear structure spanning between the two rollers 832. As shown in FIG. 8B, the body portion 830 can include a block 836 and twoprotrusions 838. The block 836 can be configured to engage with the second portion 824 of the load cell 818. For example, the block 836 can include a notch 840 sized to receive the second portion 824. Accordingly, in an assembled state, the second portion 824 can abut the block 836 on three sides. The two protrusions 838 can provide a rotational axis for the two rollers 832, respectively.

[0173] The two rollers 832 can rotate freely relative to the body portion 830. For example, the two rollers 832 can be positioned around the two protrusions 838. In an assembled state, the two rollers 832 can engage with the transmission element 810. In some examples, the transmission element 810 can be positioned between the block 836 and the two rollers 832, respectively. Additionally, the two rollers 832 can include a groove 842. The groove 842 can be sized to receive the transmission element 810.

[0174] The linear driver 820 can be configured to translate linearly, or otherwise adjust in multiple dimensions such as rotation, translation, and so on, in response to changes in applied force from the transmission element 810 to linear driver 820. In some examples, the transmission element 810 may apply a first force at a first end of the linear driver 820 and a second force at a second end of the linear driver 820 opposite the first end. For example, the transmission element 810 may apply the first force to a first roller of the two rollers 832 and the second force to a second roller of the two rollers 832. The linear driver 820 may be configured to translate, or otherwise adjust, based on a force differential between the first force and the second force. In some examples, the first force may exceed the second force. Accordingly, the linear driver 820 may translate in the direction of the first force. In some examples, the second force may exceed the first force. Accordingly, the linear driver 820 may translate in the direction of the second force. The applied forces may be non-constant. In some examples, the applied forces can change based on the direction and / or the rate of speed of the transmission element 810.

[0175] In some examples, the linear driver 820 can be configured to translate linearly, or otherwise adjust in multiple dimensions such as rotation, translation, and so on, in response to a change in tension in the transmission element 810. For example, the linear driver 820 can translate toward the side of the transmission element 810 experiencing a greater tension. In some examples, the linear driver 820 can be deformed in response to a change intension in the transmission element 810. For example, the linear driver 820 can be compressed or extended in response to the change in tension in the transmission element 810.

[0176] The torque sensor 816 can further include one or more capacitors. The one or more capacitors can be the same or similar to the capacitor described herein with reference to FIGS. 7A-7I. For example, the one or more capacitors can be organized into pairs. As shown in FIG.8B, the torque sensor 816 can include two pairs of capacitor plates. The torque sensor 816 can be similar to the torque sensors described herein with reference to FIGS.7B-7I except for the differences described herein. For example, the torque sensor 816 can provide the capacitor plates in an annular arrangement. Each capacitor can include a first plate 734, a second plate 736, a connector 738, and a capacitive chip 740.

[0177] The torque sensor 816 may include a differential mode. In some examples, the differential mode may determine an applied torque based on a difference in applied forces. For example, the linear driver 820 may translate based on the difference between applied forces. The translation of the linear driver 820 can result in a relative movement of the capacitor plates. The torque sensor 816 can map the change in capacitance to a corresponding net force and / or applied torque.

[0178] Additionally, the torque sensor 816 may be further configured to enable determination of tension within the transmission element 810. In some embodiments, the torque sensor 816 and / or the load cell 818 may be positioned off-center (e.g., laterally off- center). For example, the torque sensor 816 and / or the load cell 818 may be positioned off- center from an axis extending between two sides of the transmission element 810. An asymmetric arrangement may provide an extra moment (e.g., a bending moment) which may be used to determine or infer, at least in part, tension. The capacitance channels (e.g., signals being output from the sensor 816) may be used to determine torque (e.g., based on differences between the signals) and tension (e.g., based on a combination, such as a sum or weighted sum, of the signals). As may be appreciated, the channels may be initially calibrated such as based on known static and / or differential loads. During operation the channels may be analyzed, for example via a microprocessor, to calculate torque and tension. In this way, for example, slip associated with the transmission element 810 may be determined. Additionally, the torque sensor 816 may be further configured to measure a tension within the transmission element 810. In such examples, the torque sensor 816 and / or the load cell 818 may be positioned off-center. For example, the torque sensor 816 may be arranged along an axis parallel to a longitudinal axis between the transmission element 810.

[0179] FIG. 8E is a top view of a torque sensing array 844. The torque sensing array 844 can include the capacitors used with the torque sensor 816 described herein. For example, the torque sensing array 844 can include the two pairs of capacitors each including the first plate 734, the second plate 736, the connector 738, and the capacitive chip 740. The torque sensing array 844 can further include a flex band 846.

[0180] The flex band 846 can be similar to the flex band 746 described herein with reference to FIG.7I. For example, the flex band 846 can include a first pad 848, a second pad 850, and a third pad 852. The first pad 848 can be separated from the second pad 850 by a plurality of first fold regions 854. The third pad 852 can be separated from the second pad 850 by a plurality of second fold regions 856. The first pad 848 can be configured to receive the first plate 734. The second pad 850 can be configured to receive the second plate 736. The third pad 852 can be configured to receive the capacitive chip 740. The body of the flex band 846 can incorporate the connector 738.

[0181] The flex band 846 can be folded about the plurality of first fold regions 854 and the plurality of second fold regions 856 to arrange the torque sensing array 844 in an arrangement that can fit within the torque sensor 816. For example, the first pad 848 can be folded about the plurality of first fold regions 854 to arrange the first plate 734 in parallel with the second plate 736. The first pad 848 and the second pad 850 can be folded together about the plurality of second fold regions 856 to fit within the annular gaps 732.

[0182] FIGS. 9A-9D illustrate a fourth embodiment of systems and methods for sensing applied torque to a control knob of a TEE probe.

[0183] FIGS.9A-9D illustrate an adapter element 900 with an engagement device 706 for receiving the one or more control knobs of the TEE probe. In some embodiments, the one or more control knobs can include the control knob 702.

[0184] The adapter element 900 can include one or more engagement devices. In some examples, the one or more engagement surfaces can be the same or similar to the one or more engagement device 706 described herein with reference to FIGS. 7A-7H. Accordingly, the one or more engagement devices 706 can be configured to engage a control knob, apply rotational motion to the control knob, and / or measure torque applied to the control knob.

[0185] The adapter element 900 can further include a torque sensor 902 for measuring the torque applied to the control knob 702 of the TEE probe. The torque sensor 902 can include the load cell 818 and an engagement element 904.

[0186] The load cell 818 can be coupled to the one or more engagement device 706. For example, the load cell 818 can be fixedly coupled to the one or more engagement devices 706 via the openings 834 of the load cell 818 and the openings 726 of the one or more engagement device 706. Accordingly, the first portion 822 may be rotationally fixed to the one or more engagement device 706.

[0187] The engagement element 904 can be at least partially similar to the second portion 716 described herein with reference to FIGS. 7A-7H. In some examples, the engagement element 904 can be configured to engage the control knob 702. For example, the engagement element 904 can include the first contact surface 722A and the second contact surface 722B. Accordingly, the engagement element 904 can abut the counterclockwise facing surface of the protrusion 704 and the second contact surface 722B can abut the clockwise facing surface of the protrusion 704.

[0188] The engagement element 904 can be coupled to the second portion 824 of the load cell 818. In some examples, the engagement element 904 can be coupled to the second portion 824 in the same or similar manner as the linear driver 820 described above. In some examples, the load cell 818 can include an additional opening 906. Accordingly, the engagement element 904 can be secured to the second portion 824 via the openings 834 and / or the additional opening 906.

[0189] Accordingly, the fourth embodiment can be a combination of the second and third embodiments. Thus, the first portion 822 can move relative to the second portion 824 as a torque is applied to the one or more engagement device 706. The relative motion of the first portion 822 results in a change in alignment between the first plate 734 and the second plate 736. For example, the distance between the first plate 734 and the second plate 736 and / or the parallelism of the first plate 734 and the second plate 736 can change as described herein with reference to FIGS.5A-5H. The relative movement between the first plate 734 and the second plate 736 can be measured to determine the applied torque. For example, the stiffness of the intermediate portions 718 can be known and the torque sensor 712 can detect an amount of displacement of the first portion 714 relative to the second portion 716. In someembodiments, the change in the geometrical average point between surfaces of the first portion 714 and the second portion 716 can be proportional to the rotation of the first portion 714 with respect to the second portion 716. From these known and detected parameters, the torque can be determined. In some embodiments, the capacitor can generate a signal output representing the change in alignment between the capacitor elements.

[0190] FIG. 10A illustrates a process 352 that can be provided by the devices disclosed herein. At block 354, a torque signal is detected from a control knob, such as the one or more control knobs 132A, 136A described above. As discussed in connection with FIGS. 5A-5B, the torque applied to the one or more control knobs 132A, 136A can be measured with a capacitive chip or processor. This can be achieved by coupling a first capacitive plate or element to an outer member and coupling a second capacitive plate or element to an inner member. Relative rotational movement between the two capacitive plates or elements can be measured. Additionally, the torque signal can be indicative of a direction of a torque applied to the control knob.

[0191] At block 356, a motor engaged with the one or more control knobs are controlled based on the detected torque signal. The motor can be controlled to control a load in a tip control wire engaged with the control knob. As discussed in connection with FIGS. 3A-3B, the one or more motors can be operatively coupled to a corresponding one or more control knobs. The one or more control knobs are operatively coupled to mechanical elements in the flexible shaft that can control a position of the flexible shaft. Controlling the motor can include applying a torque to the one or more control knobs in the same direction as the direction of the torque applied to the control knob to assist rotational movement of the control knob. Controlling the motor can reduce an amount of torque applied by the motor to the control knob in a direction of the detected torque to reduce a torque transmitted by the control knob to a control wire.

[0192] At block 358, a rotational position sensor signal is detected. Detecting a rotational position sensor signal can be used to determine an amount of rotation of the control knob of the ultrasound probe handle.

[0193] FIG. 10B illustrates a process 360 that can be provided by the devices disclosed herein. The process 360 can correspond to the block 354 shown in FIG. 10A. Insome examples, the process 360 can be a method for detecting a torque signal from a control knob. For example, the process 360 can be for measuring torque applied to a control knob.

[0194] The process 360 can begin at block 362. At block 362, a control knob is inserted into a drive interface. The drive interface can be configured to robotically control a TEE probe and / or robotically actuate the control knob of the TEE probe. In some examples, the drive interface can be the same or similar to the devices described herein with reference to FIGS. 3A-3B. For example, the control knob can be fitted with an outer knob portion 304 described herein with reference to FIG.5A. In some examples, the control knob can be inserted within the drive interface without modifying the control knob. For example, the control knob can be fitted within the engagement device 706 described herein with reference to FIGS. 7A and 9A and / or the engagement device 804 described herein with reference to FIG. 8A. The control knob can be unmodified. Accordingly, inserting the control knob into the drive interface can include placing the unmodified control knob into an engagement device of the drive interface. In some examples, inserting the control knob into the drive interface can include operatively coupling the control knob with a motor. In some examples, inserting the control knob into the drive interface can include coupling the control knob to a torque sensor.

[0195] The process 360 can continue to block 364. At block 364, the control knob is rotated via the drive interface. The drive interface can be operatively coupled to a motor. In some examples, the drive interface can be rotatably driven by the motor. For example, a transmission element can extend between the motor and the control knob such that rotation of the motor provides a rotational input to the control knob. In some embodiments, the drive interface can include a load cell having a first portion and a second portion. The first portion can be rotationally fixed to a rotational input device and the second portion can be rotationally fixed to the control knob. The rotational input device can be coupled to the transmission element. Accordingly, the first portion can be rotated via actuation of the motor. The second portion can be coupled to the first portion via one or more intermediate portions. The one or more intermediate portions can be flexible. The one or more intermediate portions can transfer rotational motion from the first portion to the second portion while allowing relative motion between the first portion and the second portion. Accordingly, the second portion can be configured to rotate relative to the first portion. For example, rotating the control knob via the drive interface can include applying a first rotational motion to a first portion of a torque sensorvia a transmission element coupled to a motor, wherein the first portion applies a second rotational motion to a second portion of the torque sensor coupled to the control knob.

[0196] The process 360 can continue to block 366. At block 366 capacitor plates can be displaced in response to rotating the control knob. The load cell can include capacitor plates. The capacitor plates can have conductive surfaces with a gap positioned between the capacitor plates. The capacitor plates can be displaced from a rest position by an application of torque. In some examples, the capacitor plates can be rotated relative to the other when the control knob is actuated. For example, the load cell can be similar to the torque sensor 312 described herein with reference to FIGS.5B-5H, 7B-7G, 8A-8D, and / or 9A-9D. For example, the capacitor plates can be radially arranged as shown in FIGS. 5B-5D and 5H. Accordingly, a relative rotation of the capacitor plates can adjust the orientation of the capacitor plates as described herein with reference to FIGS. 5D-5F. In some examples, the capacitor plates can be annularly arranged as shown in FIGS. 7G, 8B-8D, and 9C-9D. Accordingly, a relative rotation of the capacitor plates can adjust the orientation of the capacitor plates as described herein with reference to FIGS. 5D-5F. In some examples, displacing capacitor plates in response to rotating the control knob can include changing capacitor plates from a parallel arrangement to a non-parallel arrangement.

[0197] The process 360 can continue to block 368. At block 368 a change in capacitance is measured as the capacitor plates are displaced. The load cell can further include one or more capacitive chips. The capacitive chips can be electrically coupled to the capacitor plates and configured for measuring the capacitance of the capacitor plates. The change in the relative position of the capacitor plates can be measured by the change of the gap at the ends of the one or more conductive surfaces as described herein with reference to FIGS.5D-5F.

[0198] The process 360 can continue to block 370. At block 370 the measured change in capacitance is mapped to an input torque value. As described herein with reference to FIG. 5F, there is a completely linear relationship between the measured change in capacitance and applied torque. As torque is applied in a first direction causing a positive deflection between the capacitor plates, the torque sensor can output a positive value. By comparison, as a torque is applied in a second direction opposite the first direction causing a negative deflection between the capacitor plates, the torque sensor can output a negative value. The magnitude of the torque can be calculated from a formula relating capacitance and appliedtorque. The magnitude of the torque can be determined from a lookup table identifying a torque for a capacitance value.

[0199] The foregoing descriptions of specific embodiments of the disclosed technology 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. Additional Terminology

[0200] 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.

[0201] 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.

[0202] 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 otherprogrammable 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 conjunction with 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.

[0203] 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.

[0204] 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.

[0205] 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.

[0206] 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.

[0207] 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

[0208] Examples of the implementations of the present disclosure can be described in view of the following example clauses. The features recited in the below exampleimplementations 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.

[0209] Clause 1. A sensor, comprising: a knob comprising an outer member having an outer periphery, an inner member having an inner periphery, and a radial member disposed between the outer member and the inner member; a capacitor coupled with the outer member and with the inner member; and a processor configured to monitor a signal output by the capacitor to determine a change in position of the outer member relative to the inner member.

[0210] Clause 2. The sensor of Clause 1, wherein the capacitor comprises a first capacitor element coupled with the outer member and a second capacitor element coupled with the inner member, a change in distance between the first capacitor element and the second capacitor element generates the signal output by the capacitor.

[0211] Clause 3. The sensor of Clause 2, wherein the first capacitor element and the second capacitor element comprise a first end and a second end.

[0212] Clause 4. The sensor of Clause 3, wherein the first end of the first capacitor element is radially separated from the first end of the second capacitor element by a first distance and the second end of the first capacitor element is radially separated from the second end of the second capacitor element by a second distance.

[0213] Clause 5. The sensor of any one of Clauses 1-4, further comprising a flex band operatively positioned between the outer member and the inner member, wherein the capacitor is coupled to the flex band.

[0214] Clause 6. The sensor of any one of Clauses 1-5, wherein the sensor is configured to detect a translation of the outer member and a relative rotation between the outer member and the inner member.

[0215] Clause 7. The sensor of any one of Clauses 4-6, wherein a change in a rotational position of the first capacitor element relative to the second capacitor element can be measured by the first distance and the second distance.

[0216] Clause 8. The sensor of Clause 7, wherein the first distance is represented by Dangled = D1 + rsin(angle), wherein "Dangled" is a new first distance between the first capacitor element and the second capacitor element at the first end, "D1" is an initial first distance between the first capacitor element and the second capacitor element at the first end, "r" is a radial distance between the center of the outer member and the first capacitor element, and "angle" is a deflection angle of the first capacitor element about a central axis of the outer member.

[0217] Clause 9. The sensor of Clause 8, wherein the second distance is represented by Dangled=D2+risin(angle), wherein "Dangled" is a new second distance between the first capacitor element and the second capacitor element at the second end, "D2" is an initial second distance at the second end, "angle" is represented by: k-1(D2-D1), wherein "D1" is an initial first distance between the first capacitor element and the second capacitor element at the first end, and "k" is a constant represented by: C1D1, wherein "C1" is a capacitance at the first end.

[0218] Clause 10. The sensor of any one of Clauses 4-9, wherein the capacitance of the first capacitor element is equal to the capacitance of the second capacitor element when the first capacitor element is parallel to the second capacitor element.

[0219] Clause 11. An ultrasound probe assembly control method, comprising: detecting a torque signal from a control knob of an ultrasound probe handle; and controlling a motor engaged with the control knob based on a detected torque signal to control a load in a tip control wire engaged with the control knob.

[0220] Clause 12. The method of Clause 11, wherein the torque signal is indicative of a direction of a torque applied to the control knob.

[0221] Clause 13. The method of Clause 12, wherein controlling the motor comprises applying a torque to the control knob in a same direction as the direction of the torque applied to the control knob to assist rotational movement of the control knob.

[0222] Clause 14. The method of Clause 13, wherein controlling the motor comprises reducing an amount of torque applied by the motor to the control knob in a direction of the detected torque to reduce a torque transmitted by the control knob to a control wire.

[0223] Clause 15. The method of any one of Clauses 12-14, further comprising detecting a rotational position sensor signal to determine an amount of rotation of the control knob of the ultrasound probe handle.

[0224] Clause 16. The method of Clause 15, wherein controlling the motor comprises reducing an amount of torque applied by the motor to the control knob when the amount of rotation is less than a threshold to reduce a torque transmitted by the control knob to a tip control wire.

[0225] Clause 17. The method of any one of Clauses 11-16, wherein detecting a rotational position sensor signal further comprises measuring a first distance radially separating a first end of a first capacitor element from a first end of a second capacitor element and measuring a second distance radially separating a second end of a first capacitor element from a second end of a second capacitor element.

[0226] Clause 18. The method of Clause 17, wherein the first distance is represented by Dangled1 = D1 + rsin(angle1) and the second distance is represented by Dangled2=D2+risin(angle2), wherein "Dangled1" is a new first distance between the first capacitor element and the second capacitor element at the first end, "D1" is an initial first distance between the first capacitor element and the second capacitor element at the first end, "r" is a radial distance between the center of the control knob and the first capacitor element, "angle1" is a deflection angle of the first capacitor element about a central axis of the control knob, "Dangled2" is a new second distance between the first capacitor element and the second capacitor element at the second end, "D2" is an initial second distance at the second end, and "angle2" is represented by: k-1(D2-D1), wherein "k" is represented by: , wherein "C1" corresponds to a capacitance at the first end.

[0227] Clause 19. A sensor for measuring an applied torque on a control knob of a TEE probe, the sensor comprising: a first portion coupled to an engagement device configured to receive the control knob; a second portion separated from the first portion by a gap, the second portion configured to be operatively coupled to the control knob; an intermediate portion extending between the first portion and the second portion; a capacitor positioned within the gap, the capacitor comprising: a first capacitor plate coupled to the first portion; and a second capacitor plate coupled to the second portion; and a processor electrically coupled to the first capacitor plate and the second capacitor plate.

[0228] Clause 20. The sensor of Clause 19, wherein the first capacitor plate faces the second capacitor plate in a neutral position.

[0229] Clause 21. The sensor of any one of Clauses 19-20, wherein the first capacitor plate is parallel with the second capacitor plate in a neutral position.

[0230] Clause 22. The sensor of any one of Clauses 19-21, wherein intermediate portion is flexible and the first portion is configured to rotate at least partially relative to the second portion.

[0231] Clause 23. The sensor of any one of Clauses 19-22, wherein a rotation of the first portion relative to the second portion displaces the first capacitor plate relative to the second capacitor plate.

[0232] Clause 24. The sensor of any one of Clauses 19-23, wherein the first capacitor plate is configured to be displaced relative to the second capacitor plate.

[0233] Clause 25. The sensor of any one of Clauses 19-24, wherein relative displacement of the first capacitor plate to the second capacitor plate corresponds to an applied torque.

[0234] Clause 26. The sensor of any one of Clauses 19-25, wherein the first portion is configured to be rotatably fixed to a rotational input device.

[0235] Clause 27. The sensor of any one of Clauses 19-26, wherein the first portion is configured to be operatively coupled to a motor via a transmission element.

[0236] Clause 28. The sensor of any one of Clauses 19-27, wherein the second portion is configured to be rotatably fixed to a control knob.

[0237] Clause 29. The sensor of any one of Clauses 19-28, wherein the second portion comprises a first engagement element and a second engagement element, wherein the first engagement element is configured to abut a first side of a protrusion of a control knob and the second engagement element is configured to abut a second side of the protrusion of the control knob opposite the first side.

[0238] Clause 30. The sensor of any one of Clauses 19-29, wherein the first portion is an outer member, the second portion is an inner member, and the intermediate portion is a radial member.

[0239] Clause 31. The sensor of any one of Clauses 19-30, wherein the first capacitor plate and the second capacitor plate are radially arranged.

[0240] Clause 32. The sensor of any one of Clauses 19-31, wherein the first capacitor plate and the second capacitor plate are annularly arranged.

[0241] Clause 33. The sensor of any one of Clause 19-32, wherein the gap is positioned radially between the first portion and the second portion.

[0242] Clause 34. The sensor of any one of Clauses 19-33, wherein the gap is positioned annularly between the first portion and the second portion.

[0243] Clause 35. The sensor of any one of Clauses 19-34, wherein the capacitor is a first capacitor and the gap is a first gap, the sensor further comprising a second gap and a second capacitor positioned within the second gap, wherein the first gap is positioned at a first side of the first portion and the second gap is positioned at a second side of the first portion opposite the first side.

[0244] Clause 36. The sensor of Clause 35, wherein the second capacitor comprises a third capacitor plate coupled to the first portion and a fourth capacitor plate coupled to the second portion.

[0245] Clause 37. The sensor of any one of Clauses 19-36, wherein the processor is configured to monitor a signal output by the capacitor to determine a change in position of the first portion relative to the second portion.

[0246] Clause 38. A kit for robotically controlling a TEE probe, the kit comprising: an engagement device configured to receive a control knob of the TEE probe; a flexible intermediate portion coupled to the engagement device, wherein the intermediate portion; a contact surface coupled to the flexible intermediate portion, wherein the contact surface is configured to engage the control knob; a capacitor coupled with the engagement device and with the contact surface; and a processor configured to monitor a signal output by the capacitor to determine a change in position of the engagement device relative to the contact surface.

[0247] Clause 39. The kit of Clause 38, further comprising a gap between the engagement device and the contact surface, wherein the flexible intermediate portion bridges the gap.

[0248] Clause 40. The kit of any one of Clauses 38-39, further comprising a motor operatively coupled with the engagement device, wherein a rotational output of the motor is a rotational input to the engagement device.

[0249] Clause 41. The kit of any one of Clauses 38-40, wherein the engagement device and the contact surface are configured to transfer a rotational output of a motor to the control knob.

[0250] Clause 42. The kit of any one of Clauses 38-42, wherein the capacitor comprises a first capacitor element coupled with the engagement device and a second capacitor element coupled with the contact surface, a change in distance between the first capacitor element and the second capacitor element generates the signal output by the capacitor.

[0251] Clause 43. The kit of Clause 42, wherein the first capacitor element and the second capacitor element comprise a first end and a second end, respectively.

[0252] Clause 44. The kit of Clause 43, wherein the first end of the first capacitor element is radially separated from the first end of the second capacitor element by a first distance and the second end of the first capacitor element is radially separated from the second end of the second capacitor element by a second distance.

[0253] Clause 45. The kit of Clause 44, wherein a change in a rotational position of the first capacitor element relative to the second capacitor element can be measured by the first distance and the second distance.

[0254] Clause 46. The kit of any one of Clauses 38-45, further comprising a torque sensor comprising: a first portion rotatably fixed to the engagement device; and a second portion rotatably fixed to the contact surface; wherein the flexible intermediate portion extends between the first portion and the second portion.

[0255] Clause 47. A sensor for measuring an applied torque on a control knob of a TEE probe, the sensor comprising: a first portion coupled to a base support; a second portion separated from the first portion by a gap; an intermediate portion extending between the first portion and the second portion; a capacitor positioned within the gap, the capacitor comprising: a first capacitor plate coupled to the first portion; and a second capacitor plate coupled to the second portion; a processor electrically coupled to the first capacitor plate and the second capacitor plate; and a linear driver coupled to the second portion; wherein: the linear driver is configured to be operatively coupled to a transmission element; and movement of the transmission element displaces the linear driver causing a relative movement between the first portion and the second portion.

[0256] Clause 48. The sensor of Clause 47, wherein the linear driver comprises : a body comprising a first end and a second end opposite the first end; a first roller rotatably coupled to the first end; and a second roller rotatably coupled to the second end; wherein the first roller and the second roller are rotatably coupled to the transmission element.

[0257] Clause 49. The sensor of any one of Clauses 47-48, wherein the linear driver is displaced in response to a change in tension in the transmission element.

[0258] Clause 50. A kit for robotically controlling a TEE probe, the kit comprising: an engagement device configured to receive a control knob of the TEE probe; a transmission element operatively coupled with the engagement device; and a torque sensor comprising: a load cell; a linear driver coupled to an end of the load cell, and operatively coupled to the transmission element; and a processor configured to monitor a signal output by the load cell to determine a change in position of the linear driver; wherein: movement of the transmission element rotates the engagement device and displaces the linear driver; and the processor determines an applied torque of the transmission element onto the engagement device based on the displacement of the linear driver.

[0259] Clause 51. The kit of Clause 50, wherein the load cell comprises: a first portion rotatably fixed to a base support; a second portion coupled to the linear driver; a flexible intermediate portion extending between the first portion and the second portion; and a capacitor coupled with the first portion and with the second portion; wherein the movement of the transmission element displaces the second portion relative to the first portion.

[0260] Clause 52. The kit of Clause 51, further comprising a gap between the first portion and the second portion, wherein the flexible intermediate portion bridges the gap.

[0261] Clause 53. The kit of Clause 50, further comprising a motor operatively coupled with the engagement device, wherein a rotational output of the motor is a rotational input to the engagement device.

[0262] Clause 54. The kit of any one of Clauses 50-53, wherein the linear driver comprises: a body comprising a first end and a second end opposite the first end; a first roller rotatably coupled to the first end; and a second roller rotatably coupled to the second end; wherein the first roller and the second roller are rotatably coupled to the transmission element.

[0263] Clause 55. The kit of any one of Clauses 50-54, wherein the linear driver is displaced in response to a change in tension in the transmission element.

[0264] Clause 56. A method for measuring torque applied to a control knob, the method comprising: inserting a control knob into a drive interface; rotating the control knob via the drive interface; displacing capacitor plates in response to rotating the control knob; measuring a change in capacitance as the capacitor plates are displaced; and mapping the measured change in capacitance to an input torque value.

[0265] Clause 57. The method of Clause 56, wherein the control knob is unmodified and inserting the control knob into the drive interface comprises placing the unmodified control knob into an engagement surface of the drive interface.

[0266] Clause 58. The method of any one of Clauses 56-57, wherein inserting the control knob into the drive interface comprises operatively coupling the control knob with a motor.

[0267] Clause 59. The method of any one of Clauses 56-58, wherein inserting the control knob into the drive interface comprises coupling the control knob to a torque sensor.

[0268] Clause 60. The method of any one of Clauses 56-59, wherein rotating the control knob via the drive interface comprises applying a first rotational motion to a first portion of a torque sensor via a transmission element coupled to a motor, wherein the first portion applies a second rotational motion to a second portion of the torque sensor coupled to the control knob.

[0269] Clause 61. The method of any one of Clauses 56-60, wherein displacing capacitor plates in response to rotating the control knob comprises changing capacitor plates from a parallel arrangement to a non-parallel arrangement.

Claims

WHAT IS CLAIMED IS:

1. A sensor, comprising: a knob comprising an outer member having an outer periphery, an inner member having an inner periphery, and a radial member disposed between the outer member and the inner member; a capacitor coupled with the outer member and with the inner member; and a processor configured to monitor a signal output by the capacitor to determine a change in position of the outer member relative to the inner member.

2. The sensor of Claim 1, wherein the capacitor comprises a first capacitor element coupled with the outer member and a second capacitor element coupled with the inner member, a change in distance between the first capacitor element and the second capacitor element generates the signal output by the capacitor.

3. The sensor of Claim 2, wherein the first capacitor element and the second capacitor element comprise a first end and a second end.

4. The sensor of Claim 3, wherein the first end of the first capacitor element is radially separated from the first end of the second capacitor element by a first distance and the second end of the first capacitor element is radially separated from the second end of the second capacitor element by a second distance.

5. The sensor of Claim 1, further comprising a flex band operatively positioned between the outer member and the inner member, wherein the capacitor is coupled to the flex band.

6. The sensor of Claim 1, wherein the sensor is configured to detect a translation of the outer member and a relative rotation between the outer member and the inner member.

7. The sensor of Claim 4, wherein a change in a rotational position of the first capacitor element relative to the second capacitor element can be measured by the first distance and the second distance.

8. The sensor of Claim 7, wherein the first distance is represented by Dangled = D1 + rsin(angle), wherein “Dangled” is a new first distance between the first capacitor element and the second capacitor element at the first end, “D1” is an initial first distance between the first capacitor element and the second capacitor element at the first end, “r” is a radial distancebetween the center of the outer member and the first capacitor element, and “angle” is a deflection angle of the first capacitor element about a central axis of the outer member.

9. The sensor of Claim 8, wherein the second distance is represented bywherein “Dangled” is a new second distance between the first capacitor element and the second capacitor element at the second end, “D2” is an initial second distance at the second end, “angle” is represented by: k-1(D2-D1), wherein “D1” is an initial first distance between the first capacitor element and the second capacitor element at the first end, and “k” is a constant represented by: C1D1, wherein “C1” is a capacitance at the first end.

10. The sensor of Claim 4, wherein the capacitance of the first capacitor element is equal to the capacitance of the second capacitor element when the first capacitor element is parallel to the second capacitor element.

11. An ultrasound probe assembly control method, comprising: detecting a torque signal from a control knob of an ultrasound probe handle; and controlling a motor engaged with the control knob based on a detected torque signal to control a load in a tip control wire engaged with the control knob.

12. The method of Claim 11, wherein the torque signal is indicative of a direction of a torque applied to the control knob.

13. The method of Claim 12, wherein controlling the motor comprises applying a torque to the control knob in a same direction as the direction of the torque applied to the control knob to assist rotational movement of the control knob.

14. The method of Claim 13, wherein controlling the motor comprises reducing an amount of torque applied by the motor to the control knob in a direction of the detected torque to reduce a torque transmitted by the control knob to a control wire.

15. The method of Claim 12, further comprising detecting a rotational position sensor signal to determine an amount of rotation of the control knob of the ultrasound probe handle.

16. The method of Claim 15, wherein controlling the motor comprises reducing an amount of torque applied by the motor to the control knob when the amount of rotation is less than a threshold to reduce a torque transmitted by the control knob to a tip control wire.

17. The method of Claim 11, wherein detecting a rotational position sensor signal further comprises measuring a first distance radially separating a first end of a first capacitor element from a first end of a second capacitor element and measuring a second distance radially separating a second end of a first capacitor element from a second end of a second capacitor element.

18. The method of Claim 17, wherein the first distance is represented by Dangled1= D1+ rsin(angle1) and the second distance is represented by Dangled2=D2+risin(angle2), wherein “Dangled1” is a new first distance between the first capacitor element and the second capacitor element at the first end, “D1” is an initial first distance between the first capacitor element and the second capacitor element at the first end, “r” is a radial distance between the center of the control knob and the first capacitor element, “angle1” is a deflection angle of the first capacitor element about a central axis of the control knob, “Dangled2” is a new second distance between the first capacitor element and the second capacitor element at the second end, “D2” is an initial second distance at the second end, and “angle2” is represented by: k-1(D2-D1), wherein “k” is represented by: , wherein “C1” corresponds to a capacitance at the first end.

19. A sensor for measuring an applied torque on a control knob of a TEE probe, the sensor comprising: a first portion coupled to an engagement device configured to receive the control knob; a second portion separated from the first portion by a gap, the second portion configured to be operatively coupled to the control knob; an intermediate portion extending between the first portion and the second portion; a capacitor positioned within the gap, the capacitor comprising: a first capacitor plate coupled to the first portion; and a second capacitor plate coupled to the second portion; and a processor electrically coupled to the first capacitor plate and the second capacitor plate.

20. The sensor of Claim 19, wherein the first capacitor plate faces the second capacitor plate in a neutral position.

21. The sensor of Claim 19, wherein the first capacitor plate is parallel with the second capacitor plate in a neutral position.

22. The sensor of Claim 19, wherein intermediate portion is flexible and the first portion is configured to rotate at least partially relative to the second portion.

23. The sensor of Claim 19, wherein a rotation of the first portion relative to the second portion displaces the first capacitor plate relative to the second capacitor plate.

24. The sensor of Claim 19, wherein the first capacitor plate is configured to be displaced relative to the second capacitor plate.

25. The sensor of Claim 19, wherein relative displacement of the first capacitor plate to the second capacitor plate corresponds to an applied torque.

26. The sensor of Claim 19, wherein the first portion is configured to be rotatably fixed to a rotational input device.

27. The sensor of Claim 19, wherein the first portion is configured to be operatively coupled to a motor via a transmission element.

28. The sensor of Claim 19, wherein the second portion is configured to be rotatably fixed to a control knob.

29. The sensor of Claim 19, wherein the second portion comprises a first engagement element and a second engagement element, wherein the first engagement element is configured to abut a first side of a protrusion of a control knob and the second engagement element is configured to abut a second side of the protrusion of the control knob opposite the first side.

30. The sensor of Claim 19, wherein the first portion is an outer member, the second portion is an inner member, and the intermediate portion is a radial member.

31. The sensor of Claim 19, wherein the first capacitor plate and the second capacitor plate are radially arranged.

32. The sensor of Claim 19, wherein the first capacitor plate and the second capacitor plate are annularly arranged.

33. The sensor of Claim 19, wherein the gap is positioned radially between the first portion and the second portion.

34. The sensor of Claim 19, wherein the gap is positioned annularly between the first portion and the second portion.

35. The sensor of Claim 19, wherein the capacitor is a first capacitor and the gap is a first gap, the sensor further comprising a second gap and a second capacitor positioned within the second gap, wherein the first gap is positioned at a first side of the first portion and the second gap is positioned at a second side of the first portion opposite the first side.

36. The sensor of Claim 35, wherein the second capacitor comprises a third capacitor plate coupled to the first portion and a fourth capacitor plate coupled to the second portion.

37. The sensor of Claim 19, wherein the processor is configured to monitor a signal output by the capacitor to determine a change in position of the first portion relative to the second portion.

38. A kit for robotically controlling a TEE probe, the kit comprising: an engagement device configured to receive a control knob of the TEE probe; a flexible intermediate portion coupled to the engagement device, wherein the intermediate portion; a contact surface coupled to the flexible intermediate portion, wherein the contact surface is configured to engage the control knob; a capacitor coupled with the engagement device and with the contact surface; and a processor configured to monitor a signal output by the capacitor to determine a change in position of the engagement device relative to the contact surface.

39. The kit of Claim 38, further comprising a gap between the engagement device and the contact surface, wherein the flexible intermediate portion bridges the gap.

40. The kit of Claim 38, further comprising a motor operatively coupled with the engagement device, wherein a rotational output of the motor is a rotational input to the engagement device.

41. The kit of Claim 38, wherein the engagement device and the contact surface are configured to transfer a rotational output of a motor to the control knob.

42. The kit of Claim 38, wherein the capacitor comprises a first capacitor element coupled with the engagement device and a second capacitor element coupled with the contact surface, a change in distance between the first capacitor element and the second capacitor element generates the signal output by the capacitor.

43. The kit of Claim 42, wherein the first capacitor element and the second capacitor element comprise a first end and a second end, respectively.

44. The kit of Claim 43, wherein the first end of the first capacitor element is radially separated from the first end of the second capacitor element by a first distance and the second end of the first capacitor element is radially separated from the second end of the second capacitor element by a second distance.

45. The kit of Claim 44, wherein a change in a rotational position of the first capacitor element relative to the second capacitor element can be measured by the first distance and the second distance.

46. The kit of Claim 38, further comprising a torque sensor comprising: a first portion rotatably fixed to the engagement device; and a second portion rotatably fixed to the contact surface; wherein the flexible intermediate portion extends between the first portion and the second portion.

47. A sensor for measuring an applied torque on a control knob of a TEE probe, the sensor comprising: a first portion coupled to a base support; a second portion separated from the first portion by a gap; an intermediate portion extending between the first portion and the second portion; a capacitor positioned within the gap, the capacitor comprising: a first capacitor plate coupled to the first portion; and a second capacitor plate coupled to the second portion; a processor electrically coupled to the first capacitor plate and the second capacitor plate; and a linear driver coupled to the second portion; wherein: the linear driver is configured to be operatively coupled to a transmission element; and movement of the transmission element displaces the linear driver causing a relative movement between the first portion and the second portion.

48. The sensor of Claim 47, wherein the linear driver comprises : a body comprising a first end and a second end opposite the first end; a first roller rotatably coupled to the first end; and a second roller rotatably coupled to the second end; wherein the first roller and the second roller are rotatably coupled to the transmission element.

49. The sensor of Claim 47, wherein the linear driver is displaced in response to a change in tension in the transmission element.

50. A kit for robotically controlling a TEE probe, the kit comprising: an engagement device configured to receive a control knob of the TEE probe; a transmission element operatively coupled with the engagement device; anda torque sensor comprising: a load cell; a linear driver coupled to an end of the load cell, and operatively coupled to the transmission element; and a processor configured to monitor a signal output by the load cell to determine a change in position of the linear driver; wherein: movement of the transmission element rotates the engagement device and displaces the linear driver; and the processor determines an applied torque of the transmission element onto the engagement device based on the displacement of the linear driver.

51. The kit of Claim 50, wherein the load cell comprises: a first portion rotatably fixed to a base support; a second portion coupled to the linear driver; a flexible intermediate portion extending between the first portion and the second portion; and a capacitor coupled with the first portion and with the second portion; wherein the movement of the transmission element displaces the second portion relative to the first portion.

52. The kit of Claim 51, further comprising a gap between the first portion and the second portion, wherein the flexible intermediate portion bridges the gap.

53. The kit of Claim 50, further comprising a motor operatively coupled with the engagement device, wherein a rotational output of the motor is a rotational input to the engagement device.

54. The kit of Claim 50, wherein the linear driver comprises: a body comprising a first end and a second end opposite the first end; a first roller rotatably coupled to the first end; and a second roller rotatably coupled to the second end;wherein the first roller and the second roller are rotatably coupled to the transmission element.

55. The kit of Claim 50, wherein the linear driver is displaced in response to a change in tension in the transmission element.

56. A method for measuring torque applied to a control knob, the method comprising: inserting a control knob into a drive interface; rotating the control knob via the drive interface; displacing capacitor plates in response to rotating the control knob; measuring a change in capacitance as the capacitor plates are displaced; and mapping the measured change in capacitance to an input torque value.

57. The method of Claim 56, wherein the control knob is unmodified and inserting the control knob into the drive interface comprises placing the unmodified control knob into an engagement surface of the drive interface.

58. The method of Claim 56, wherein inserting the control knob into the drive interface comprises operatively coupling the control knob with a motor.

59. The method of Claim 56, wherein inserting the control knob into the drive interface comprises coupling the control knob to a torque sensor.

60. The method of Claim 56, wherein rotating the control knob via the drive interface comprises applying a first rotational motion to a first portion of a torque sensor via a transmission element coupled to a motor, wherein the first portion applies a second rotational motion to a second portion of the torque sensor coupled to the control knob.

61. The method of Claim 56, wherein displacing capacitor plates in response to rotating the control knob comprises changing capacitor plates from a parallel arrangement to a non- parallel arrangement.

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