Methods of acquiring and manipulating ultrasound views for imaging platforms

Abstract

An example method provides imaging data of a region of interest. The method includes receiving 3D ultrasound data for the region of interest from an ultrasound probe. Additionally, the method includes receiving tracking data, for example from a removable electromagnetic tracker, indicating a position and an orientation of the ultrasound probe relative to the region of interest. The method also includes constructing a 3D model of the region of interest based on the 3D ultrasound data. The 3D model tracks the position and the orientation of the ultrasound probe relative to the region of interest. The method additionally includes determining a selected sweep angle for the ultrasound probe. The method further includes displaying a 2D ultrasound image of a portion of the region of interest based on the 3D model, the position and the orientation of the ultrasound probe relative to the region of interest, and the selected sweep angle.

Description

METHODS OF ACQUIRING AND MANIPULATING ULTRASOUND VIEWS FOR IMAGING PLATFORMSRELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 661,517, filed June 18, 2024, and U.S. Provisional Patent Application Serial No. 63 / 708,124, filed October 16, 2024, the entirety of each is hereby incorporated by reference for all purposes.FIELD

[0002] The present technology is generally related to a user interface for medical imaging and imaging systems employing such a user interface.BACKGROUND

[0003] Ultrasonography is used for imaging in a variety of fields, including medical imaging. An ultrasound (US) transducer emits US waves which are reflected by echogenic or echoic materials (for example bone or materials with physical properties similar to bone) and absorbed or allowed to pass through by non-echogenic or anechoic materials (for example purified water or materials with physical properties similar to purified water). The echo or reflection from echoic materials as opposed to the absorption or non-reflection of anechoic materials is used to determine imaging data, which is provided to a user such as a surgeon or US technician via a user interface.SUMMARY

[0004] The techniques of this disclosure generally relate to providing a user interface for an ultrasound (US) imaging system, such as an echocardiogram (e.g., transesophageal echocardiogram (TEE), transthoracic echocardiogram (TTE), intracardiac echocardiogram (ICE), etc.) imaging system. Various examples represent US imaging plane locations in a 3D workspace or model of a 3D region of interest, enabling annotation and co-tracking of other devices in the 3D model. Examples use a tracked position of the US probe along with a sweep angle to calculate and display an US imaging plane, multiplanar imaging, or3D US imaging with the actual position and orientation of the imaged portion in the 3D region of interest. In various examples, the position and / or orientation of the US probe (e.g., TEE probe, etc.) is tracked via integrated electromagnetic (EM) tracker(s) and / or EM tracker(s) secured to the US probe (e.g., TEE probe, etc.) via atraumatic patch(es) affixed via an adhesive surface to the US probe and / or a sheath around a portion of the US probe. In the same or other examples, the position and / or orientation of the US probe (e.g., TEE probe, etc.) is tracked via integrated electromagnetic (EM) tracker(s) and / or EM tracker(s) within a sheath secured around a portion of the US probe (e.g., TEE probe, etc.).

[0005] Various examples maintain a set of saved views in the 3D model, which are able to be returned to automatically or via user guidance. Examples also provide for displaying one or more saved views in relation to a current ultrasound view, for view selection and / or user guidance in obtaining view angles. Additionally, various examples provide automated sweep angle selection and / or automated motion (e.g., rotation, deflection) of the ultrasound probe to facilitate image plane acquisition and selection of saved or favorited views and / or views specific to particular procedures and / or devices. In some examples, automated adjustment of the position and / or sweep angle of the ultrasound probe is employed to track another device or instrument, such as a device delivery system.

[0006] In one aspect, the present disclosure provides a user interface system for imaging a region of interest that includes a memory for storing machine-readable instructions and a processor core for accessing the machine-readable instructions and executing the machine-readable instructions as operations. The operations include receiving ultrasound (US) data for the region of interest from a US probe. The operations also include receiving tracking data indicating a position of the US probe relative to the region of interest and an orientation of the US probe relative to the region of interest. The tracking data is received from a tracker integrated with or temporarily secured to the US probe at a known relative position and a known relative orientation to a fixed point of the US probe. The operations additionally include constructing a three-dimensional (3D) model of the region of interest based on the US data. The 3D model tracks the position of the US probe relative to the region of interest and the orientation of the US probe relative to the region of interest based on the tracking data. The operations further includedetermining a selected sweep angle for the US probe. Additionally, the operations include displaying an output US image of a portion of the region of interest based on the 3D model, the position of the US probe relative to the region of interest, the orientation of the US probe relative to the region of interest, and the selected sweep angle.

[0007] In another aspect, the disclosure provides a method for providing imaging data of a region of interest. The method includes receiving ultrasound (US) data for the region of interest from a US probe. The method also includes receiving tracking data indicating a position of the US probe relative to the region of interest and an orientation of the US probe relative to the region of interest. The tracking data is received from a tracker integrated with or temporarily secured to the US probe at a known relative position and a known relative orientation to a fixed point of the US probe. The method additionally includes constructing a three-dimensional (3D) model of the region of interest based on the US data. The 3D model tracks the position of the US probe relative to the region of interest and the orientation of the US probe relative to the region of interest based on the tracking data. The method further includes determining a selected sweep angle for the US probe. Additionally, the method includes displaying an output US image of a portion of the region of interest based on the 3D model, the position of the US probe relative to the region of interest, the orientation of the US probe relative to the region of interest, and the selected sweep angle.

[0008] In other aspects, the disclosure provides a non-transitory machine-readable medium having executable instructions for a user interface system that causes a processor core to execute operations. The operations include receiving ultrasound (US) data for a region of interest from a US probe. The operations also include receiving tracking data indicating a position of the US probe relative to the region of interest and an orientation of the US probe relative to the region of interest. The tracking data is received from a tracker integrated with or temporarily secured to the US probe at a known relative position and a known relative orientation to a fixed point of the US probe. The operations additionally include constructing a three-dimensional (3D) model of the region of interest based on the US data. The 3D model tracks the position of the US probe relative to the region of interest and the orientation of the US probe relative to the region of interest based on the tracking data. The operations further include determining a selected sweep angle for theUS probe. Additionally, the operations include displaying an output US image of a portion of the region of interest based on the 3D model, the position of the US probe relative to the region of interest, the orientation of the US probe relative to the region of interest, and the selected sweep angle.

[0009] In further aspects, the disclosure provides a user interface system for an intracardiac transcatheter procedure that includes a memory for storing machine-readable instructions and a processor core for accessing the machine-readable instructions and executing the machine-readable instructions as operations. The operations include receiving ultrasound (US) data for a region of interest of the intracardiac transcatheter procedure from an echocardiogram probe. The operations also include receiving tracking data indicating a position of the echocardiogram probe relative to the region of interest and an orientation of the echocardiogram probe relative to the region of interest. The tracking data is received from a tracker integrated with or temporarily secured to the echocardiogram probe at a known relative position and a known relative orientation to a fixed point of the echocardiogram probe. The operations additionally include constructing a 3D model of the region of interest based on the US data. The 3D model tracks the position of the echocardiogram probe relative to the region of interest and the orientation of the echocardiogram probe relative to the region of interest based on the tracking data. The operations further include determining a selected sweep angle for the echocardiogram probe. Additionally, the operations include displaying an output ultrasound image of a portion of the region of interest based on the 3D model, the position of the echocardiogram probe relative to the region of interest, the orientation of the echocardiogram probe relative to the region of interest, and the selected sweep angle.

[0010] In additional aspects, the disclosure provides a method for providing imaging data of a region of interest of an intracardiac transcatheter procedure. The method includes receiving ultrasound (US) data for a region of interest of the intracardiac transcatheter procedure from an echocardiogram probe. The method also includes receiving tracking data indicating a position of the echocardiogram probe relative to the region of interest and an orientation of the echocardiogram probe relative to the region of interest. The tracking data is received from a tracker integrated with or temporarily secured to the echocardiogram probe at a known relative position and a known relativeorientation to a fixed point of the echocardiogram probe. The method additionally includes constructing a three-dimensional (3D) model of the region of interest based on the US data. The 3D model tracks the position of the echocardiogram probe relative to the region of interest and the orientation of the echocardiogram probe relative to the region of interest based on the tracking data. The method further includes determining a selected sweep angle for the echocardiogram probe. Additionally, the method includes displaying an output ultrasound image of a portion of the region of interest based on the 3D model, the position of the echocardiogram probe relative to the region of interest, the orientation of the echocardiogram probe relative to the region of interest, and the selected sweep angle.

[0011] Additional aspects of the disclosure provide a non-transitory machine-readable medium having machine executable instructions for a user interface system that causes a processor core to execute operations. The operations include receiving ultrasound (US) data for a region of interest of the intracardiac transcatheter procedure from an echocardiogram probe. The operations also include receiving tracking data indicating a position of the echocardiogram probe relative to the region of interest and an orientation of the echocardiogram probe relative to the region of interest. The tracking data is received from a tracker integrated with or temporarily secured to the echocardiogram probe at a known relative position and a known relative orientation to a fixed point of the echocardiogram probe. The operations additionally include constructing a three- dimensional (3D) model of the region of interest based on the US data. The 3D model tracks the position of the echocardiogram probe relative to the region of interest and the orientation of the echocardiogram probe relative to the region of interest based on the tracking data. The operations further include determining a selected sweep angle for the echocardiogram probe. Additionally, the operations include displaying an output ultrasound image of a portion of the region of interest based on the 3D model, the position of the echocardiogram probe relative to the region of interest, the orientation of the echocardiogram probe relative to the region of interest, and the selected sweep angle.

[0012] Other aspects of the disclosure provide an ultrasound imaging system for imaging a region of interest. The system includes a US probe comprising a US transducer configured to obtain US data for the region of interest. The system additionally includesan electromagnetic (EM) tracker configured to sense a position-dependent property of an EM field and to output sensor data that indicates the position-dependent property. The EM tracker is integrated with or temporarily secured to the US probe at a known relative position and a known relative orientation to a fixed point of the US probe. The system also includes a tracking system that determines, based on the sensor data output by the EM tracker, tracking data indicating a position of the US probe relative to the region of interest and an orientation of the US probe relative to the region of interest. Additionally, the system includes a memory for storing machine-readable instructions and a processor core for accessing the machine-readable instructions and executing the machine-readable instructions as operations. The operations include receiving the US data for the region of interest from the US probe. The operations also include receiving the tracking data. The operations additionally include constructing a three-dimensional (3D) model of the region of interest based on the US data. The 3D model tracks the position of the US probe relative to the region of interest and the orientation of the US probe relative to the region of interest based on the tracking data. Additionally, the operations include determining a selected sweep angle for the US probe. The operations further include displaying an output US image of a portion of the region of interest based on the 3D model, the position of the US probe relative to the region of interest, the orientation of the US probe relative to the region of interest, and the selected sweep angle.

[0013] In still further aspects, the disclosure provides an ultrasound (US) imaging system for imaging a region of interest. The system includes an echocardiogram probe comprising a US transducer configured to obtain US data for the region of interest. The system additionally includes an electromagnetic (EM) tracker configured to sense a position-dependent property of an EM field and to output sensor data that indicates the position-dependent property. The EM tracker is integrated with or temporarily secured to the echocardiogram probe at a known relative position and a known relative orientation to a fixed point of the echocardiogram probe. The system also includes a tracking system that determines, based on the sensor data output by the EM tracker, tracking data indicating a position of the echocardiogram probe relative to the region of interest and an orientation of the echocardiogram probe relative to the region of interest. The system additionally includes a memory for storing machine-readable instructions and a processorcore for accessing the machine-readable instructions and executing the machine-readable instructions as operations. The operations include receiving the US data for the region of interest from the echocardiogram probe. The operations also include receiving the tracking data. The operations additionally include constructing a three-dimensional (3D) model of the region of interest based on the US data. The 3D model tracks the position of the echocardiogram probe relative to the region of interest and the orientation of the echocardiogram probe relative to the region of interest based on the tracking data. Additionally, the operations include determining a selected sweep angle for the echocardiogram probe. The operations further include displaying an output ultrasound image of a portion of the region of interest based on the 3D model, the position of the echocardiogram probe relative to the region of interest, the orientation of the echocardiogram probe relative to the region of interest, and the selected sweep angle.

[0014] Additional aspects of the disclosure provide a sheath for an ultrasound (US) probe. The sheath includes a set of EM trackers including an EM tracker configured to sense a position-dependent property of an EM field and to output tracking data indicating the sensed position-dependent property of the EM field. The sheath also includes an outer jacket that encloses the set of EM trackers. The outer jacket is configured to secure the sheath around a portion of the US probe.

[0015] Still further aspects of the disclosure provide a patch system for an ultrasound (US) probe. The patch system includes a set of EM trackers including an EM tracker configured to sense a position-dependent property of an EM field and to output tracking data indicating the sensed position-dependent property of the EM field. The patch system also includes a layered patch having an atraumatic first surface and an adhesive second surface opposite the first surface. The second surface is configured to secure the EM tracker to a portion of the US probe.

[0016] In other aspects, the disclosure provides a method of calibrating an electromagnetic (EM) tracker. The method includes attaching a removable EM tracker system including the EM tracker to an ultrasound (US) probe. The EM tracker is configured to sense a position-dependent property of an EM field. The method also includes selecting a model of the US probe via a calibration system. The calibration system includes an EM emitter configured to generate the EM field. The methodadditionally includes pairing the EM tracker and a calibration tool with the calibration system. The method further includes placing a probe head of the US probe in the calibration tool. Additionally, the method includes calibrating a position of the EM tracker relative to a fixed point of the probe head and an orientation of the EM tracker relative to the fixed point of the probe head.

[0017] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the techniques described in this disclosure will be apparent from the description and drawings, and from the claims.BRIEF DESCRIPTION OF DRAWINGS

[0018] FIG. 1 is a schematic perspective view of one example of a treatment system useable in connection with various examples discussed herein.

[0019] FIG. 2 is a schematic block diagram illustrating an example system of hardware components capable of implementing examples of the systems and methods disclosed herein.

[0020] FIG. 3 is an example 2D ultrasound image showing a cardiac region of interest and an avatar representing a tracked instrument.

[0021] FIG. 4 shows two example ultrasound images showing image views defined based on selected markers in a 3D model.

[0022] FIG. 5 is a pair of ultrasound images showing US probe alignment with a device axis.

[0023] FIG. 6 is an ultrasound image showing a current view along with four markers saved to a 3D model, and additional views passing through pairs of the saved markers.

[0024] FIG. 7 is a diagram of a portion of an example transesophageal echocardiogram (TEE) probe.

[0025] FIG. 8 is a diagram of a TEE probe with an example catheter-like sheath that secures one or more electromagnetic (EM) trackers to the TEE probe.

[0026] FIG. 9 is a diagram of an example flexible sheath in a cylindrical shape with a slit along the length of the sheath.

[0027] FIG. 10 is a series of diagrams showing a technique for securing a sheath with a slit to a TEE probe.

[0028] FIG. 11 is a diagram of an example flexible sheath with one or more features that secure the sheath to a TEE probe.

[0029] FIGS. 12A-B shows views of example removable EM tracker patch systems capable of securing EM tracker(s) to a TEE probe.

[0030] FIG. 13 shows images of a removable EM tracker system being secured to the probe head of a TEE probe at two potential locations in a transverse orientation.

[0031] FIG. 14 shows images of a removable EM tracker system being secured to the probe head of a TEE probe in a longitudinal orientation.

[0032] FIG. 15A is an image of a first example alignment device that facilitates placement of a removable EM tracker system on a probe head of a TEE probe at a selected location.

[0033] FIG. 15B is an image of a second example alignment device that facilitates placement of a removable EM tracker system on a probe head of a TEE probe at a selected location.

[0034] FIG. 15C is an image of a third example alignment device that facilitates placement of a removable EM tracker system on a probe head of a TEE probe at a selected location.

[0035] FIG. 16 is three views of example alignment and calibration devices that facilitate placement and calibration of a removable EM tracker patch system on a probe head of a TEE probe at a selection location.

[0036] FIGS. 17A-B is a pair of diagrams of example calibration systems for calibrating the position of a removable EM tracker system on a TEE probe head.

[0037] FIG. 18 is a series of images showing stages of a transcatheter mitral valve replacement procedure.

[0038] FIG. 19 is a flowchart of a first example method for providing US imaging data for a region of interest via a user interface.

[0039] FIG. 20A is a flowchart of a second example method for providing US imaging data for a region of interest via a user interface.

[0040] FIG. 20B is a flowchart of a third example method for providing US imaging data for a region of interest via a user interface.

[0041] FIG. 21 A is a flowchart of a fourth example method for providing US imaging data for a region of interest via a user interface.

[0042] FIG. 21B is a flowchart of a fifth example method for providing US imaging data for a region of interest via a user interface.

[0043] FIG. 22 is a flowchart of an example method for calibrating an EM tracker of a removable EM tracker system relative to a probe head of a TEE probe.DETAILED DESCRIPTION

[0044] Various examples provide a user interface for an ultrasound (US) imaging system, such as a transesophageal echocardiogram (TEE) imaging system, as well as imaging systems employing such a user interface. Examples generate a three-dimensional (3D) model that tracks US imaging data of a region of interest. Various examples provide tracker(s) (e.g., electromagnetic (EM), fiber-Bragg, ultrasound, etc.) either integrated with or able to be secured to a US probe via an atraumatic patch and / or sheath around a portion (e.g., a shaft and steerable region; a shaft, steerable region, and a portion of the head, potentially including strain relief(s) between the probe head and steerable region and / or the steerable region and the shaft, etc.) of the US probe, including for internal use with a patient by being secured to a TEE probe. In various examples, the atraumatic patch(es) and / or the sheath(s) are constructed of one or more materials suitable for use internally (e.g., presenting a sterile, atraumatic surface to anatomy, etc.) and in various examples presents a similar surface to anatomy as the portion(s) of the TEE probe(s) covered by the patch and / or sheath. For example, potentially exposed surfaces of an atraumatic patch and / or sheath can be made of flexible atraumatic (e.g., biocompatible, etc.) materials (e.g., soft polymer(s), hydrocolloid(s), silicone, etc.) and / or less flexible atraumatic materials (more rigid materials polymer(s), glass(es), ceramic(s), certain metal(s), etc.), where the materials depend on the extent to which a given portion of the patch / sheath flexes during attachment and / or use (e.g., wings of a patch may flex during attachment while a center portion may not, etc.). Such examples provide EM tracking of TEE probe(s), etc. withoutintegrated EM tracker(s) by securing EM tracker(s) to the TEE probe via atraumaticpatch(es) that affix the EM tracker(s) or a sheath that includes the EM tracker(s) around a portion of the TEE probe.

[0045] Current clinical methods of imaging the intracardiac space using TEE have demonstrated feasibility in connection with transfemoral mitral valve replacement, and these methods are also useable in tricuspid valve replacement. However, clinical experience has identified challenges with conventional TEE imaging, which can require significant and constant monitoring by multiple physicians and skilled specialists.

[0046] In general, these issues add significant cognitive burden and stress during the procedure because of the high level of vigilance required to avoid contact between the delivery system and anatomical features that are inherently difficult to see with typical echo views, cropped out of view, or shadowed by the delivery system itself.

[0047] In contrast to conventional techniques, various examples generate and maintain a 3D model of a region of interest (e.g., a heart or portion thereof involved in a transcatheter procedure, etc.) based on 3D US data obtained from a US transducer (e.g., a US transducer of a TEE probe or other US probe), including portions of the region of interest not viewable based on the current position of the US probe and instrument(s). The position and orientation of the US probe are tracked in the 3D model to calculate and render, based on the position and orientation of the US probe, a 2D US image plane, multiplanar images, and / or 3D images. Examples are useable with US probes that include integrated EM tracker(s) as well as with US probes lacking integrated EM tracker(s). Various examples facilitate EM tracking of a US probe (e.g., TEE probe, etc.) by securing EM tracker(s) to the US probe with atraumatic patch(es). In the same or other examples, EM tracking of the US probe (e.g., TEE probe, etc.) is facilitated via EM tracker(s) included within a sheath secured around a portion of the TEE (etc.) probe.

[0048] Various examples maintain a set of saved views (e.g., corresponding to planes through the 3D model, and in some examples including a set of US parameters such as depth, gain, etc.), including one or more of user-defined view(s), automatically generated view(s), relevant view(s) for a procedure (e.g., en face, commissure-commissure (C-C), etc.). Various examples output a 2D US image corresponding to a current view that additionally indicates one or more saved views in relation to the current view.

[0049] In various examples, the US probe is automatically controlled to align with a saved view and / or feedback is provided to a user regarding alignment of the US probe with a saved view. In some examples, the US probe is automatically controlled to align the 2D US image with a tracked instrument, such as a transcatheter device, etc. In various examples, the tracked instrument is tracked in the 3D model via representing the device as an avatar in the 3D model and on output US images. The device avatar represents the device in the 3D model with the corresponding position / orientation of the device in the region of interest.

[0050] Referring to FIG. 1, illustrated a schematic perspective view of one example of a treatment system 10 useable in connection with various examples. Treatment system 10 includes a computing device 100, a display 110, a table 120, an instrument 130 (e.g., a transcatheter device, etc.), an ultrasound (US) imager 140 that includes a US probe (e.g., a transesophageal echocardiogram (TEE) probe), and a US workstation 150. In various examples, computing device 100 is, for example, a laptop computer, desktop computer, tablet computer, smart phone, or other similar device. In examples, computing device 100 is configured to control an electrosurgical generator, a peristaltic pump, a power supply, and / or any other accessories and peripheral devices relating to, or forming part of, system 10. Display 110 is configured to output an ultrasound (US) image (e.g., from two- dimensional (2D) imaging or other imaging modes such as biplane, multiplanar reformation (MPR), 3D imaging, etc.), which in various examples is output along with additional information (e.g., saved views, feedback regarding alignment of the US probe with a saved view, US imaging parameters, etc.). In various examples, table 120 is, for example, an operating table or other table suitable for use during a surgical procedure that includes an electromagnetic (EM) field generator 121.

[0051] The EM field generator 121 is used to generate an EM field with a positiondependent property (e.g., a three-dimensional (3D) magnetic field generated over a patient and / or a region of interest for a procedure, etc.) during the procedure and forms part of an EM tracking system that is used to track the position and orientation of the US probe (e.g., TEE probe, etc.) of the US imager 140 within a region of interest (e.g., an anatomical region associated with a procedure within the body of a patient, such as a heart or portion thereof, etc.) and / or the position and orientation of the instrument 130. In variousexamples, the EM field generator 121 includes various components, such as a specially designed pad to be placed under, or integrated into, an operating table or patient bed (e.g., the table 120, etc.) or an EM field emitter 121 mounted on the table 120 (e.g., via an adjustable arm) and configured to be placed adjacent to a patient (e.g., adjacent to a patient’s head, etc.).

[0052] The tracking system of the system 10 includes the EM field emitter(s) 121 and also includes one or more tracked devices (e.g., instrument(s) 130, US probe(s) of the US imager 140, etc.), wherein the tracked device(s) include EM tracker(s) such as EM sensor array (s) (e.g., EM coils, etc.) that are configured to detect the position-dependent property of the EM field (e.g., a magnitude and / or a direction associated with the EM field, such as via interaction of the EM field with EM coils, etc.), from which the position of the EM tracker is able to be determined and / or tracker(s) employing alternative tracking techniques, such as fiber-Bragg, ultrasound, etc. In some examples determining the position of an instrument 130, a US probe, etc. includes determining the orientation of the instrument 130, the US probe, etc. (e.g., via determining a direction associated with the EM field, determining two or more positions on the instrument 130, the implanted device, etc.). The EM field(s) generated by the EM field emitter(s) 121 are detected by the EM tracker(s) of the tracked device(s), and the EM field by each tracked device is communicated to the computing device 100 (e.g., via wired and / or wireless connection(s)) and / or to the US workstation 150. Additionally, in various examples, tracking data or signals from one or more other tracking techniques (e.g., fiber-Bragg, ultrasound, etc.) is also communicated to the computing device 100 and used for determining position(s).

[0053] In various examples, tracked device(s) (e.g., via EM tracking, fiber-Bragg, ultrasound, etc.) include therapeutic device(s) (e.g., replacement valve, etc.), therapy delivery system(s) (e.g., transcatheter delivery system, etc.), and / or US probe(s) (e.g., TEE probe, TTE probe, ICE probe, etc.). In some examples, the therapeutic device(s), therapy delivery system(s), and / or US probe(s) include integrated tracker(s) (e.g., EM tracker(s) and / or other types of tracker(s), etc.) for tracking position and / or orientation. In other examples, EM tracker(s) can be secured to a US probe for tracking the US probe. For ease of discussion, examples are discussed in connection with securing EM tracker(s) to a TEE probe, although similar techniques are employable in connection with other US probes(e.g., TTE, etc.), including other US probes employed internally in a patient in connection with various procedures. In some examples, atraumatic patch(es) with adhesive surface(s) are used to secure associated EM tracker(s) to a TEE probe (e.g., at a selected location on the head of the TEE probe, etc.), atraumatically encasing the EM tracker (and at least a portion of the wired connection for an EM tracker connected via wire, etc.). In the same or other examples, a sheath that includes EM tracker(s) and has a profile (e.g., diameter, etc.) less than or equal to the head of the TEE probe is secured around at least a portion of the TEE probe.

[0054] While the present disclosure describes the use of system 10 in a surgical environment, it is also envisioned that some or all of the components of system 10 may be used in alternative settings, for example, an imaging laboratory and / or an office setting.

[0055] In addition to the tracking system, the instrument 130 may also be visualized by using ultrasound imaging. US imager 140, which includes the US probe, is useable to image the patient’s body during the procedure to visualize the position of the surgical instruments, such as instrument 130, inside the patient's body. In various examples, the US imager 140 has tracking sensor(s) embedded within or attached to the US probe, for example, clip-on sensor(s), sticker sensor(s), sensor(s) secured via atraumatic patch(es), sensor(s) included within a sheath secured around a portion of the US (e.g., TEE, etc.) probe, etc. As described further herein, the position / orientation of the US probe determined by the tracking system (which in various examples employs EM tracking and / or other tracking techniques), in combination with the US image data obtained by the US imager 140, allows for the ability to construct a 3D model of a region of interest based on the US image data along with the position / orientation of the US probe relative to the region of interest. The position / orientation of the instrument 130 determined by the tracking system and / or by the US imager 140 are used in various examples to register the position / orientation of the instrument 130 to the 3D model for tracking. In various examples, one or more US sensors 140 are positioned near a region of interest, such as placed inside the body of the patient (e.g., a TEE probe placed inside the esophagus of the patient, etc.). The tracking system tracks the position of US sensor(s) 140 and the instrument 130 inside the body of the patient.

[0056] The position of the instrument 130 within the body of the patient may be tracked during the surgical procedure. An example method of tracking the position of the instrument 130 includes using the tracking system, which tracks the position of the instrument by tracking sensor(s) (e.g., EM tracker(s), etc.) attached to or incorporated in the instrument. Various types of sensors are also useable, such as a printed sensor, the construction and use of which is more fully described in U.S. Patent Publication No. 2016 / 0174873, entitled MEDICAL INSTRUMENT WITH SENSOR FOR USE IN A SYSTEM AND METHOD FOR ELECTROMAGNETIC NAVIGATION, the entirety of which is incorporated by reference herein.

[0057] Prior to starting the procedure, the clinician can calibrate and / or verify the accuracy of the tracking system and / or US imager 140 using any suitable technique or techniques. In some examples, calibration includes determining the position(s) of EM tracker(s) temporarily secured to a TEE probe (etc.) relative to a known position and orientation of the TEE probe head in a calibration station. Based on a tracked position of the EM tracker(s) (e.g., during a transcatheter procedure, etc.) within a region of interest (e.g., of the transcatheter procedure, etc.) and the relative position(s) of the EM tracker(s) to the TEE probe head, the position / orientation of the TEE probe is able to be accurately tracked and represented in a 3D model of the region of interest. Additional or alternative techniques are also employable, for example, those described in U.S. Patent 8,811,662, entitled METHOD AND APPARATUS FOR CALIBRATING AND RE-ALIGNING AN ULTRASOUND IMAGE PLANE TO A NAVIGATION TRACKER, the entirety of which is incorporated by reference herein.

[0058] For ease of illustration, specific examples are discussed in connection with a transcatheter device as the instrument 130, in connection with a transcatheter mitral valve replacement (TMVR) procedure. However, similar examples are employable in connection with a range of other procedures (e.g., transcatheter tricuspid valve replacement (TTVR), etc.), and in various examples, any suitable instrument or device 130 can be utilized with the system 10, e.g., one or more implantable devices, implant delivery devices, therapy delivery devices, surgical devices, mechanical circulatory support (e.g. LVAD) devices, coronary stent devices, heart valve devices, heart valve repair devices,cardiac ablation devices, cardiac lead devices, drug delivery devices, catheter delivery devices, and endoscopic delivery devices.

[0059] FIG. 2 is a schematic block diagram illustrating an example system 200 of hardware components capable of implementing examples of the systems and methods disclosed herein. The system 200 can include various systems and subsystems, and in some examples is employable as the computing device 100. The system 200 can be a personal computer, a laptop computer, a workstation, a computer system, an appliance, an application-specific integrated circuit (ASIC), a server, a server BladeCenter, a server farm, etc.

[0060] The system 200 can include a system bus 202, a processing unit 204, a system memory 206, memory devices 208 and 210, a communication interface 212 (e.g., a network interface), a communication link 214, a display 216 (e.g., a video screen), and an input device 218 (e.g., a keyboard, touch screen, and / or a mouse). The system bus 202 can be in communication with the processing unit 204 and the system memory 206. The additional memory devices 208 and 210, such as a hard disk drive, server, standalone database, or other non-volatile memory, can also be in communication with the system bus 202. The system bus 202 interconnects the processing unit 204, the memory devices 206- 210, the communication interface 212, the display 216, and the input device 218. In some examples, the system bus 202 also interconnects an additional port (not shown), such as a universal serial bus (USB) port.

[0061] The processing unit 204 can be a computing device and can include an application-specific integrated circuit (ASIC) and / or include one or more processing cores (e.g., single-core, multi-core), which in various examples include CPU(s), GPU(s), etc. The processing unit 204 executes a set of instructions to implement the operations of examples disclosed herein.

[0062] The additional memory devices 206, 208, and 210 can store data, programs, instructions, database queries in text or compiled form, and any other information that may be needed to operate a computer. The memories 206, 208 and 210 can be implemented as computer-readable media (integrated or removable), such as a memory card, disk drive, compact disk (CD), or server accessible over a network. In certain examples, the memories 206, 208 and 210 can comprise text, images, video, and / or audio, portions ofwhich can be available in formats comprehensible to human beings. Additionally or alternatively, the system 200 can access an external data source or query source through the communication interface 212, which can communicate with the system bus 202 and the communication link 214.

[0063] In operation, the system 200 can be used to implement one or more parts of a system in accordance with examples discussed herein. Computer executable logic for implementing the user interface system and / or US imaging system resides on one or more of the system memory 206, and the memory devices 208 and 210 in accordance with certain examples. The processing unit 204 executes one or more computer executable instructions originating from the system memory 206 and the memory devices 208 and 210. The terms “computer readable medium” or “machine readable medium” as used herein includes a medium that participates in providing instructions to the processing unit 204 for execution and in various examples includes non-transitory, volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules, or other data. For example, computer-readable storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD- ROM, DVD, Blu-Ray or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and that can be accessed by computing device 100. In one or more embodiments, computer-readable storage media can be stored in the cloud or remote storage and accessed using any suitable technique or techniques through at least one of a wired or wireless connection.

[0064] In various examples, one or more software programs stored in at least one of the system memory 206, the memory device 208, or the memory device 210 include instructions that are executed by the processing unit 204 to perform operations associated with the examples.

[0065] In one example, a view angle of the US probe (e.g., TEE probe, a US probe of the US imager 140, etc.) is represented (e.g., via display 110, etc.) in a 3D space (e.g., modeled and tracked by computing device 100, US workstation 150, system 200, etc.), based on the position / orientation of the US probe (e.g., US imager 140, which in variousexamples is a TEE probe, etc.). The position / orientation of the TEE probe (e.g., or other US probe, etc.) is determined via tracker(s) of the TEE probe. In some examples, the tracker(s) of the TEE probe include integrated EM tracker(s). Additionally or alternatively, the tracker(s) of the TEE probe include EM tracker(s) secured (e.g., temporarily and removably, etc.) to the TEE probe. In some examples, the EM tracker(s) secured to the TEE probe include EM tracker(s) secured via atraumatic patch(es) to the TEE probe (e.g., at a selected location on the TEE probe head, etc.). In the same or other examples, the EM tracker(s) secured to the TEE probe include EM tracker(s) within a sheath surrounding and secured to a portion of the TEE probe (e.g., to a portion of a steerable region of the TEE probe and / or a portion of a shaft of the TEE probe, etc.).

[0066] Based on 3D US image data from the US probe (e.g., based on various 2D views or other imaging modes such as biplane, MPR, 3D imaging, etc.) and the position and orientation of the US probe when obtaining the US image data, a 3D model of the region of interest (e.g., a cardiac region of a patient, etc.) is constructed (e.g., by computing device 100, system 200, etc.). In scenarios wherein the US probe is physically moved (e.g., moved axially, rotated about its axis, flexed, etc.), the position / orientation of the US probe as tracked (e.g., by computing device 100, system 200, etc., based on the position of tracker(s) incorporated within or secured to the US probe, for example, relative to the EM field generated by EM field generator 121, etc.) changes based on the movement. In scenarios where the sweep angle of the US probe (e.g., US imager 140) is adjusted (e.g., via mechanically rotated transducers or phased array transducers, depending on the specific US probe), the US probe does not physically move. In such scenarios, however, a rendering of the adjusted sweep angle is processed relative to the 3D model (e.g., by computing device 100, system 200, etc.) such that the 3D representation of the image (e.g., displayed via display 110) matches the actual orientation of the US probe. When a user rotates the sweep angle using controls on the handle of a US probe or via a US console (e.g., US workstation 150), the sweep angle is obtained (e.g., by computing device 100, system 200, etc.) from the US imager (e.g., via a US application programming interface (API) of US workstation 150, etc.) and the US probe axis from the tracking system (e.g., including EM field generator 121 when the tracker(s) include EM tracker(s), etc.). Based on the selected sweep angle and the position / orientation of the US probe, theview output (e.g., to display 110) is rotated in 3D space (e.g., by computing device 100, system 200, etc.) based on the 3D model around the US probe axis to match the selected sweep angle. In examples using biplane, MPR, or 3D imaging via a biplane or 3D-capable US probe, the additional (e.g., derived) echo plane(s) are located in 3D space based on tracking of the US probe position / orientation relative to the 3D model (e.g., tracked in the 3D model by computing device 100, system 200, etc.), which is then adjusted for the probe sweep angle (e.g., imported via the US imager application programming interface (API), etc.). Referring to FIG. 3, illustrated is an example 2D US image showing a cardiac region of interest and an avatar representing a tracked instrument. As the sweep angle is rotated (e.g., in the direction indicated by the arrow), the view output is rotated around the axis of the US probe (e.g., US imager 140) to match the selected sweep angle relative to the 3D model.

[0067] In the same or other examples, a set of saved views is maintained (e.g., by computing device 100, system 200, etc.), and in some examples saved view(s) are saved along with an associated set of US parameters (e.g., settings such as depth, gain, etc., as determined from US workstation 150). In examples, saved views include user-defined views, views relevant to a procedure, etc. Additionally, various examples store markers or annotations (e.g., automatically generated or user-defined, such as based on anatomical features, etc.) with associated positions in the 3D model of the region of interest, and in some such examples views are generated based on sets of markers (e.g., by three markers defining a plane, by two markers defining a line in a plane of a current view, etc.). In one such example, a user wanting to define a specific saved view (e.g., a commissurecommissure (C-C) view) is prompted (e.g., via display 110, etc.) to acquire a relevant view (e.g., the C-C echo view) and to add relevant markers (e.g., via marking the commissures) to the 3D model via the relevant view. Based on the added markers, a new view (e.g., a favorited C-C view, etc.) is added to the set of saved views based on the 3D markers, current rotational angle in 3D space relative to the region of interest, and / or the current probe sweep angle. In another example, a user acquires and rotates the 3D image to an ‘en face’ view with a user-selected orientation, adds the view as a favorite view to the set of saved views to return to later, optionally along with a set of saved US parameters (e.g., image cropping, depth, etc.) at the time of saving the view.

[0068] Additionally, in various examples, the markers and / or a target view are automatically defined (e.g., by computing device 100, system 200, etc.) in response to user acquisition and / or confirmation of a given image in connection with the target view (e.g., a C-C image). In some examples, markers are defined based on imported and / or autodetected features (e.g., leaflet hinge points, etc.) that are coincident with the current 2D US image.

[0069] In some procedures, an image relative to the axis of a device or instrument (e.g., instrument 130, a transcatheter device, etc.) is relevant, in addition to or instead of a specific rotation relative to the region of interest. In various examples, the axis of a device in conjunction with one or more markers defined on the 3D model are used to define and automatically adjust the image plane and / or rotational view such that the view plane (e.g., on display 110) is coincident with the marker(s) and rotated (e.g., via commands sent from computing device 100 or system 200 to US workstation 150, etc.) to be at a given angle (e.g., parallel, perpendicular, etc.) relative to the device axis as the device moves.Referring to FIG. 4, illustrated are two example images showing image views defined based on selected markers in the 3D model.

[0070] Additionally, various examples allow a user to define a saved view based on selecting three markers (e.g., via display 110, US workstation 150, etc.) coincident with that plane (e.g., 2 commissural points and 1 point on the ventricular wall / apex, etc.).

[0071] In various examples, switching to a selected view of the set of saved views includes automatically adjusting the sweep angle of the US probe (e.g., via US workstation 150) to match the selected view. For example, a user selects a favorited C-C plane, and a command is generated (e.g., by computing device 100, system 200, communicating with US workstation 150, etc.) to the US imager (e.g., US imager 140) to change the sweep angle to match the selected view, and the 3D space is rotated to match the selected view, which in some examples includes a set of US parameters associated with the selected view.

[0072] Various examples apply auto-alignment detection between the US probe and an instrument to dynamically adjust a sweep angle of the US probe. In such examples, the US probe (e.g., US imager 140) is robotically controlled to react to positioning of theinstrument (e.g., a transcatheter device including a delivery system for a valve replacement procedure, etc.).

[0073] Using tracker(s) (e.g., based on an EM field from EM field generator 121, etc.), various examples track the axis of an avatar (the representation of the device in the 3D model and on output US images via display 110) of a device (e.g., instrument 130) in the 3D model based on tracking of the device, along with alignment of the device avatar with a US view plane (e.g., a current view, a saved view, etc.). In some such examples, an indicator regarding alignment of the device avatar with the US view plane is generated and output (e.g., via display 110), such as an indicator that the device avatar is within the view plane (e.g., or within a threshold distance and / or a threshold angle of the view plane), an indicator or alert when the device avatar is outside the view plane (e.g., or outside a threshold distance and / or a threshold angle of the view plane), different indicators (e.g., device avatar colors, etc.) for different angles and / or positions of the device avatar relative to the view plane (e.g., a first indicator for alignment with the view plane and a second indicator for non-alignment; a first indicator for alignment with the view plane, a second indicator for being behind the view plane, and a third indicator for being in front of the view plane; etc.).

[0074] In some examples, automatic axial alignment between the US probe and a device avatar is employed (e.g., via commands sent to US workstation 150 from computing device 100, system 200, etc. to control a robotic US imager 140, etc.), such as based on user selection. Such examples employ a feedback loop between the 3D model and control of the US probe to adjust the sweep angle and / or robotically maneuver (e.g., flex, etc.) the US probe such that the current US view is at a given angle to the device axis (e.g., parallel, perpendicular, etc.). In some examples wherein the US probe is automatically moved (e.g., flexed, etc.), the US probe (e.g., US imager 140) includes contact and / or pressure sensors to provide feedback, such as an alert of collision and / or potential unsafe force against patient anatomy (e.g., esophageal anatomy in TEE probe examples, etc.). In some examples wherein the US probe is manually moved, user feedback is provided (e.g., auditory feedback, visual feedback via display 110, etc.) indicating proposed movement of the US probe (e.g., advancement, retreat, flexing, etc.) to adjust the current view angle to match the device axis.

[0075] In some scenarios, the shape of the device avatar reflects an angle of the device (e.g., instrument 130) relative to the view plane (e.g., shown on display 110). Referring to FIG. 5, illustrated are a pair of images showing US probe alignment with a device axis. The left image of FIG. 5 shows a US image with a view plane not aligned with the axis of a device avatar, while the right image of FIG. 5 shows a US image with a view plane that is aligned with the axis of the device avatar, such as via automatic adjustment of the US probe view plane or user adjustment based on generated feedback.

[0076] In some examples employing auto- alignment of the US probe with the device axis, the US probe is moved (e.g., automatically, such as based on commands sent via US workstation 150) to adjust the current view to track the device axis if possible, and if not possible (e.g., because of a potential collision between the US probe and patient anatomy, alignment being dependent on user repositioning of the US probe, etc.) user feedback is generated (e.g., via display 110, etc.) indicating one or more of the reason auto-alignment is not possible, user actions that can facilitate alignment, etc. In various examples, autoalignment may be advantageous in some stages of a procedure or device use conditions. In some such examples, a device (e.g., instrument 130 or a portion thereof) is paired with a system (e.g., system 10 or a portion thereof, such as computing device 100, system 200), imaging console (e.g., US workstation 150), etc. at the beginning of a procedure. A procedure associated with the device is recognized, and some procedure stages may have different functionality associated with those stages. In some scenarios, auto-alignment is one such feature, and in some stages is automatically activated / deactivated depending on the stage, or a user is prompted to activate / deactivate auto- alignment depending on the stage, etc. From clinical experience with various procedures, stages where certain features (e.g., acquiring an image plane aligned axially with or perpendicular to a device, etc.) are feasible and / or beneficial are known in advance, and depending on the example, features are automatically activated / deactivated or a user is prompted to activate / deactivate such features.

[0077] Additionally, various examples provide visual indicators on the US image output of one or more saved views or planes as information and / or guidance indicating how to align the US probe with the one or more saved views. Referring to FIG. 6, illustrated are two example ultrasound images showing visual indicators of saved viewsthat are not co-planar with the current view. The top image of FIG. 6 shows a current view overlaid with two additional saved views, shown in light gray and dark gray. The bottom image of FIG. 6 shows a current view along with four markers saved to the 3D model, and additional views passing through pairs of the saved markers, the light gray pair along the commissure-commissure (C-C) axis and the dark gray pair along the orthogonal anteroposterior (AP) axis.

[0078] In some such examples, a view (or a plane of the view) of interest is visually highlighted (e.g., via display 110) to show its position relative to the current image. For example, some views are relevant to certain stages of a procedure or device use conditions. For example, when a device (e.g., instrument 130 or a portion thereof) is paired with a system (e.g., system 10, computing device 100, system 200, etc.) at the start of a procedure, an encoded procedure associated with the device is recognized, and the system steps through and / or prompts procedure stages with appropriate functionality. Visual aid(s) for various plane(s) (e.g., tracked in the 3D model by computing device 100, system 200, etc.) are an example of a feature that toggles on or off (e.g., automatically, based on user input in response to a prompt, etc.) at appropriate stages of the procedure to indicate best practice to the user.

[0079] In various examples, visual representations (e.g., via display 110, etc.) of plane(s) of saved view(s) are provided as aid(s) that are employable by a user to determine what adjustments to make to the position and / or orientation of the US probe (e.g., US imager 140) to align with those plane(s) / view(s). In some examples, the operations involve calculating (e.g., by computing device 100, system 200, etc.) the difference in the angles, and based on the position (e.g., including location and / or orientation, etc.) of the US probe (e.g., US imager 140) and / or remaining sweep angle options, next steps are suggested (e.g., by computing device 100, system 200, etc., via auditory feedback or visual feedback via display 110, etc.) for the user to follow to match the plane (e.g., instructions to adjust the sweep angle to a given angle, to retroflex, etc.). In various examples, when the selected plane or view is matched, user feedback is provided (e.g., by computing device 100, system 200, etc., via auditory feedback or visual feedback via display 110, etc.) indicating success and / or the guidance is automatically ended.

[0080] In the same or other examples, a visual indicator is provided in connection with the selected plane / view to indicate to a user when the US probe (e.g., US imager 140) is sufficiently aligned with the selected plane / view (e.g., based on the US probe being aligned with the plane / view within a threshold distance and / or threshold angle). In some examples, targets (e.g., planes, views, markers, etc.) that are on a current view plane (or within a threshold distance / angle of the current view plane) are highlighted (e.g., on display 110, etc.) and / or a bookmark icon for the plane / view / marker / etc. is highlighted when sufficiently aligned.

[0081] Additionally, in various examples, a user is able to use a highlighted plane as a selection tool via the user interface (e.g., display 110 and / or other input / output devices, including US workstation 150, computing device 100, system 200, etc.), such that the user is able to select a highlighted plane to rotate the 3D space to match the selected plane / view, either manually (e.g., with user guidance, etc.) or automatically. In various examples wherein the US probe (e.g., US imager 140, etc.) is automated, the US view (e.g., shown on display 110, etc.) is also adjusted to match the selected plane / view. In some such examples, in response to the US probe being unable to automatically adjust to match the selected view, user feedback is generated (e.g., via display 110, etc.) directing the user to manually adjust the US probe.

[0082] In various examples, the position and / or orientation of a US probe is determined based on one or more tracker(s) of the US probe. In some examples, the tracker(s) of the US probe include tracker(s) incorporated within the US probe. In the same or other examples, the tracker(s) of the US probe include EM tracker(s) secured (e.g., temporarily and / or removably, etc.) to the US probe. As a result, various examples are employable in connection with US probes that lack integrated tracker(s). Various examples secure an EM tracker (e.g., via a patch, a sheath, etc.) to a TEE probe (e.g., or other US probe, etc.) various ways.

[0083] FIG. 7 illustrates a diagram of a portion of an example TEE probe 700 employable in connection with various examples discussed herein. For ease of discussion, various examples are discussed in the context of EM tracker(s) secured to a TEE probe, although similar techniques are employable in connection with other US probes, including other US probes employed internally within a patient.

[0084] The example TEE probe 700 includes a probe head 702, a steerable region 704, a shaft 706, and can also include one or more strain reliefs 708, for example to transition between the steerable region 704 and one or more of the probe head 702 or the shaft 706. Other portions of the TEE probe 700, such as additional portions of the shaft 706 and user controls, are not shown in FIG. 7.

[0085] The probe head 702 is the largest part (e.g., has the largest profile in terms of both cross-sectional diameter and area, etc.) of the TEE probe 700 and includes the US transducer of the TEE probe 700 that captures US imaging. The probe head 702 has an imaging array face, and image quality is improved when the imaging array face is unobstructed and in contact with tissue. During use of the TEE probe 700, the probe head 702 does not flex in contrast to the steerable region 704 and the shaft 706. The shape of the probe head 702 varies between different models (e.g., from different brands, from the same brand, etc.) of TEE probes, but the probe head 702 has a non-circular cross-section and includes one or more flat or substantially flat surfaces, including the imaging array face.

[0086] Adjacent to the probe head 702 (or separated from the probe head 702 by a strain relief 708) is the steerable region 704, which is located between the probe head 702 and the shaft 706. The steerable region 704 is the second largest part (e.g., has a profile smaller than the probe head 702 but larger than the shaft 706 in terms of both cross- sectional diameter and area, etc.) of the TEE probe 700. During use of the TEE probe 700, the steerable region 704 flexes. While the steerable region 704 can vary in some respects between different models of TEE probes (e.g., in terms of length, etc.), the steerable region 704 has a substantially circular cross-section.

[0087] The shaft 706 is adjacent to the steerable region 704, and is the smallest part (e.g., has a profile smaller than both the probe head 702 and the steerable region 704 in terms of both cross-sectional diameter and area, etc.) of the TEE probe 700. Similarly to the steerable region 704, the shaft 706 has a circular cross-section and is flexible during use of the TEE probe 700.

[0088] Various examples include removable EM tracker(s) secured (e.g., temporarily, etc.) to a TEE probe (e.g., TEE probe 700, etc.). A first set of examples, discussed in connection with FIGS. 8-11, include one or more EM trackers within a sheath that issecured around a portion of a TEE probe. A second set of examples, discussed in connection with FIGS. 12-16, include one or more EM trackers secured to the TEE probe via atraumatic patch(es). Additionally, although the first and second sets of examples are discussed separately, some examples include more than one removable EM tracker, for example, including removable EM tracker(s) within a sheath that is secured around a portion of a TEE probe and also including removable EM tracker(s) secured to the TEE probe via atraumatic patch(es).

[0089] FIG. 8 shows a TEE probe 800 (e.g., which can be an example of TEE probe 700 in FIG. 7, etc.) with an example catheter-like removable EM tracker system, sheath 810, that secures one or more EM trackers 812 to the TEE probe 800. The TEE probe 800 includes a probe head 802, a steerable region 804, a shaft 806, and strain relief(s) 808, as examples of the probe head 702, the steerable region 704, the shaft 706, and the strain relief(s) 708, respectively, of the TEE probe 700. In various examples, the sheath 810 is capable of being slid over the TEE probe 800 (e.g., by opening the sheath 810 via a slit of the sheath 810, by temporarily expanding a diameter of the sheath 810 to pass over the probe head 802, etc.). In various examples, the sheath 810 is a sterile sheath capable of securing EM tracker(s) 812 to the TEE probe 800 to track the position of the TEE probe 800, and can be single-use or multiple use.

[0090] In various examples, the sheath 810 is a flexible cylinder or similar shape (e.g., including a cylinder with an opening or slit along the length of the cylinder, etc.) secured around at least a portion of the TEE probe 800 (e.g., with a distal end of the sheath 810 secured at or near the probe head 802 and / or the strain relief 808 between the probe head 802 and the steerable region 804, etc.), and is configured to flex with portions of the TEE probe 800 covered by the sheath 810. The sheath 810 includes one or more EM trackers 812 (only one of which is shown in FIG. 8) enclosed within an outer jacket 814. In various examples, the outer jacket 814 (and thus the sheath 810) has a smaller profile (e.g., lower diameter and / or cross-sectional area, etc.) than the probe head 802, as indicated by the dashed lines extending from the probe head 802 at the diameter (indicated via the dashed arrow) of the largest portion of the probe head 802, although some examples can have equal or greater profiles.

[0091] Various examples of the EM tracker(s) 812 include coil-based sensors or solid- state sensors (e.g., magnetoresistance (xMR) sensors such as anisotropic xMR (AMR) sensors, tunneling xMR (TMR) sensors, giant xMR (GMR) sensors; Hall effect sensors, etc.) that sense a position-dependent property of an EM field, for use in determining the position(s) of the EM tracker(s) 812. The EM tracker(s) 812 of various examples transmit sensor data via a wired or wireless connection to a computer (e.g., the computing device 100 of FIG. 1, the system 200 of FIG. 2, etc.). In various examples that employ wired connection(s), the wired connection(s) include one or more of a coaxial cable, a twisted pair wire, a flex circuit, or another circuit that protects against EM interference.

[0092] In various examples, the EM tracker(s) 812 (e.g., along with any wired connection(s), etc.) are located on an inner surface of the sheath 810 or between an inner surface of the sheath 810 and the outer jacket 814, such that the outer jacket 814 encloses the EM tracker(s) 812 and the portion of the TEE probe 800 covered by the sheath 810. provides protection both for the EM tracker(s) 812 and / or for anatomy adjacent to or near the TEE probe 800. The outer jacket 814 of various examples is constructed of materials suitable for use internally (e.g., presenting a sterile, atraumatic surface to anatomy, etc.) and in various examples presents a similar surface to anatomy as the portion(s) of the TEE probe 800 covered by the sheath 810.

[0093] In some examples, the EM tracker(s) 812 include EM tracker(s) 812 secured at or near the probe head 802 and / or the strain relief 808 proximate to the probe head 802 at a location (e.g., a longitudinal distance along the length of the TEE probe 800 relative to the tip of the probe head 802 and / or an angle, etc.) that is fixed relative to the probe head 802, such as a location that does not flex when the TEE probe 800 is used. Based on a known geometry of the probe head 802 and / or the adjacent strain relief 808 (e.g., based on the model of the TEE probe 800, etc.) and a known location of at least one EM tracker 812 relative to the probe head 802, the position of the probe head 802 is able to be determined and used by various examples (e.g., in connection with a 3D model of a region of interest, such as for accurately representing the position of the TEE probe 800 relative to the region of interest, for US view selection, etc.).

[0094] In the same or other examples, the EM tracker(s) 812 include EM tracker(s) 812 secured to the TEE probe 800 at location(s) that flex when used (e.g., locations on thesteerable region 804 and / or the shaft 806, etc.). Based on a known position of the EM tracker(s) 812 relative to the location(s) along the TEE probe 800 where those EM tracker(s) 812 are secured, the position(s) of the location(s) along the TEE probe 800 are able to be determined and used by various examples (e.g., in connection with a 3D model of a region of interest, such as for accurately representing the position of the TEE probe 800 relative to the region of interest, for generating alerts regarding potential impact between the TEE probe 800 and anatomy, etc.). Additionally or alternatively, in some examples two or more EM trackers 812 are located at the same displacement along the TEE probe 800 and at equally spaced angles (e.g., two EM trackers 812 that are 180° apart, three EM trackers 812 that are 120° apart, etc.), such that a center of the TEE probe 800 and / or circumference of the sheath 810 at that location are able to be determined and used by various examples (e.g., in connection with a 3D model of a region of interest, such as for accurately representing the position of the TEE probe 800 relative to the region of interest, for generating alerts regarding potential impact between the TEE probe 800 and anatomy, etc.).

[0095] Referring to FIG. 9, illustrated is an example flexible sheath 910 (e.g., as an example of the removable EM tracker system sheath 810, with EM tracker(s) 912 and an outer jacket 914 as examples of the EM tracker(s) 812 and the outer jacket 814, respectively, etc.) in a cylindrical shape with a slit 916 along the length of the sheath 910. By opening the sheath 910 via the slit 916, the sheath 910 is able to be placed around a TEE probe (e.g., the TEE probe 700, the TEE probe 800, etc.) without passing over the large connector on the proximal end of the TEE probe or the probe head (e.g., the probe head 702, the probe head 802, etc.) on the distal end. Any of a variety of adhesives / fasteners (e.g., linearly along the slit 916, a plurality of radial fasteners or ties displaced laterally along the sheath 910, etc.) are employable to maintain the sheath 910 in a closed position and / or secure the sheath 910 to the TEE probe. Additionally or alternatively, in some examples, the sheath 910 is biased toward a closed or nearly closed position (e.g., via an elastic force, etc.) wherein the edges of the sheath 910 on either side of the slit 916 are adjacent to each other or overlapping.

[0096] In the same or other examples, the sheath (e.g., sheath 810, etc.) is constructed to pass over the probe head (e.g., the probe head 702, etc.) to be secured in position on theTEE probe (e.g., the TEE probe 700, etc.). In various such examples, the sheath has a larger inner diameter than the probe head of the TEE probe while being placed into position, but a smaller inner diameter than the TEE probe while secured in position. As examples, some example sheaths are constructed of materials (e.g., depending on the Poisson’s ratio of the material, etc.) and / or structures (e.g., structures woven similarly to a “Chinese finger trap,” etc.) that respond to compression in a first direction by expanding in directions perpendicular to the first direction. In such examples, the sheath can be compressed to maneuver past the probe head of the TEE probe and expanded to be secured in position.

[0097] Referring to FIG. 10, illustrated is a series of images 1020, 1030, and 1040 showing a technique for securing a sheath 1010 (e.g., as an example of the removable EM tracker system sheath 910 with EM tracker(s) 1012, an outer jacket 1014, and a slit 1016 as examples of the EM tracker(s) 912, the outer jacket 914, and the slit 916, respectively, etc.) to a TEE probe 1000 (e.g., as an example of the TEE probe 700, with a probe head 1002, a steerable region 1004, a shaft 1006, and strain reliefs 1008, etc.). At 1020, the sheath 1010 is placed around the TEE probe 1000 at the steerable region 1004 and / or the shaft 1006 via opening the sheath 1010 at the slit 1016. At 1030, the sheath 1010 is around the TEE probe 1000 at the steerable region 1004 and / or the shaft 1006 and is moved distally along the TEE probe 1000 toward the probe head 1002. At 1040, the sheath 1010 is secured to the TEE probe 1000 with a distal end of the sheath 1010 covering a portion of the probe head 1002 and / or the adjacent strain relief 1008. In various examples, the sheath 1010 is secured to prevent displacement along the TEE probe 1000 and / or rotation around the sheath 1010 via any of variety of techniques, including mechanical features, adhesive features, etc. In some examples, the sheath 1010 includes a set of features that secure the position and / or orientation of the sheath 1010 relative to the probe head 1002 via elastic or friction forces. In various examples, the set of features includes linear / longitudinal or circumferential / transverse features within the sheath 1010, such as strip(s) / grommet(s) / o-ring(s) / clasp(s) / etc. and / or features around the sheath 1010 such as ties / tape / clasp(s) / etc. In the same or other examples, the sheath 1010 includes one or more alignment features that align with features of the probe head 1002 (e.g., based onfeatures of the probe head 1002 of a specific model of TEE probe, etc.) that secure the relative position / orientation of the sheath 1010 relative to the probe head 1002.

[0098] Referring to FIG. 11, illustrated is an example flexible sheath 1110 (e.g., as an example of the sheath 810 with EM tracker(s) 1112 and an outer jacket 1114 as examples of the EM tracker(s) 812 and the outer jacket 814, respectively, etc.) with one or more features 1116, 1118, and / or 1120 that secure the sheath 1110 to a TEE probe 1100 (e.g., as an example of the TEE probe 700, with a probe head 1102, a steerable region 1104, a shaft 1106, and strain reliefs 1108, etc.). Securing the sheath 1110 to a fixed position along the TEE probe 1100 at a fixed angle relative to the TEE probe 1100 improves the accuracy of determining the position of the TEE probe 1100 via the EM tracker(s) 1112.

[0099] In some examples, the sheath 1110 is secured to the TEE probe 1100 via one or more mechanical features such as grommet(s) (or o-ring(s), etc.) 1116 or other circumferential / transverse feature(s) that provides friction to curtail displacement and / or rotation of the sheath 1110 relative to the TEE probe 1100. In some examples, the grommet, etc. is sized to fit the relatively larger diameter of the steerable region 1104 as compared with the relatively smaller diameter of the shaft 1106. In the same or other examples, grommet(s) (or o-ring(s), etc.) are configured to secure the sheath 1110 to other portions of the TEE probe 1100 such as the probe head 1102 or shaft 1106 or an interface or transition between the probe head 1102 and steerable region 1104 and / or between the steerable region 1104 and shaft 1106 (e.g., as shown with grommet 1118, etc.). In some examples, an inner shape and / or diameter of a mechanical feature such as a grommet / o- ring / clasp / etc. (e.g., grommet 1116, grommet 1118, etc.) is fixed, while in other examples the inner shape / diameter varies along a longitudinal direction (e.g., to secure the sheath 1110 to a position on the TEE probe 1110 where the diameter and / or shape varies in the longitudinal direction, such as an interface or transition between the probe head 1102 and steerable region 1104 and / or between the steerable region 1104 and shaft 1106 (e.g., as shown with grommet 1118, etc.). Additional or alternative friction features are included in various examples, which in some examples are longitudinal features, such as strip(s) (e.g., a strip 1120).

[0100] In the same or other examples, a distal end of the sheath 1110 has an inner shape configured to provide a geometric fit with at least a portion of a probe head (e.g.,probe head 702, etc.), which has a non-circular shape that is more angular, providing cross-section of the probe head 702 curtails rotation of the sheath 1110 relative to the TEE probe 1100. In various examples, the location on the TEE probe 1100 and the size and shape of the sheath 1110 are selected such that the sheath 1110 has a smaller profile (e.g., is narrower, etc.) than the TEE probe 1102.

[0101] FIGS. 12-16 illustrate examples that include one or more removable EM trackers secured to the TEE probe via atraumatic patch(es). FIG. 12A shows three views of a first example removable EM tracker patch system 1200 capable of securing an EM tracker 1202 (and in some embodiments wherein the EM tracker 1202 communicates via a wired connection 1204, some or all of the wired connection 1204, etc.) to a TEE probe (e.g., the probe 700, etc.). The example patch system 1200 includes an atraumatic layered patch 1206 that presents an atraumatic surface on a first (e.g., upper or outer, etc.) side of the patch 1206 (e.g., as a first sub-layer of the patch 1206, etc.) and includes an adhesive surface on a second (e.g., lower or inner, etc.) side of the patch 1206 (e.g., as a second sublayer of the patch 1206, etc.) for securing the EM tracker 1202 to a TEE probe. The patch system 1200 provides a disposable system capable of being temporarily and removably secured to a TEE probe to provide EM tracking of the position of the TEE probe. Unlike TTE probes, which operate outside of the body, TEE probes operate within the esophagus and already carry a risk of irritation or damage to the esophagus. The patch system 1200 is attached to a TEE probe using an atraumatic design (e.g., via the atraumatic patch 1206, etc.) to curtail additional risk. The patch system 1200 includes an atraumatic adhesive surface to atraumatically encase the EM tracker 1202 (e.g., and wired connection 1204 in some examples, etc.) to be used in the esophageal tract, using low-cost and disposable materials. In various examples, the tracker position relative to the probe tip is controlled and / or calibrated via reliable and reproducible techniques useable in connection with placement of the patch system 1200 by a variety of users (e.g., hospital staff, etc.). In examples that include a patch system 1200 with a wired connection 1204 (e.g., that includes one or more of a coaxial cable, a twisted pair wire, a flex circuit, or another circuit that protects against EM interference, etc.) and also include a sheath (e.g., the sheath 810, etc.), the wired connection 1204 is covered by the atraumatic patch 1206, the sheath 810, or a combination of the atraumatic patch 1206 and the sheath 810.

[0102] Atraumatic bandage- like materials have proven safe when in contact with tissue and provide strong long-lasting adhesion in the presence of fluids. The removable EM tracker system 1200 leverages these properties via the atraumatic patch 1206 to atraumatically encase the EM tracker 1202 (e.g., and wired connection 1204 in some examples, etc.) to be used in the esophageal tract, using low-cost and disposable materials. The atraumatic patch 1206 encases the EM tracker 1202 (e.g., and wired connection 1204 in some examples, etc.) and cushions the transition from the EM tracker 1202 to the surface of the TEE probe. In various examples, the atraumatic layered patchl206 includes an extended region 1208 (e.g., wings that extend in a pair of opposed directions as shown at the region 1208 in FIG. 12; an enlarged circular, oval, square, rectangular, cross-shaped, etc. region; a region selected to fit on a variety of models of TEE probes; a region with a shape selected based on the model of the TEE probe; etc.) that provides additional adhesive area (e.g., additional area on the second surface, etc.) for the atraumatic patch 1206 to secure the EM tracker 1202 to the TEE probe, by increasing the adhesive force between the atraumatic patch 1206 and the TEE probe head. In some examples, the extended region 1208 is thinner and more flexible than a central region of the atraumatic layered patch 1206, for a smooth, watertight transition to the surface of the TEE probe. In various examples, the atraumatic patch 1206 provides a custom-molded soft layer for embedding the EM tracker 1202 (e.g., and the wired connection 1204 in some examples, etc.). In some examples, the second surface of the atraumatic layered patch 1206 has a shape (e.g., raised and / or depressed regions, etc.) configured to align with the shape of the EM tracker 1202 in both wired and wireless examples (e.g., and the wired connection 1204 in wired examples, etc.).

[0103] FIG. 12B shows a top view of a second example removable EM tracker patch system 1220 capable of securing one or more EM trackers 1222, 1224, and / or 1226 to a TEE probe (e.g., the probe 700, etc.). The patch system 1220 is similar to the patch system 1200 and includes the atraumatic layered patch 1206 (e.g., which can include extended region(s) 1208, etc.) and also includes wired connection 1204 in examples employing wired communication (various examples employing wireless communication omit wired connection 1204). EM trackers 1222, 1224, and 1226 are shown as possible example locations of EM trackers in a patch system. In various examples, the patchsystem 1220 includes an EM tracker at a different location than EM tracker 1202 of patch system 1200 (e.g., EM tracker 1222, EM tracker 1226, etc.) and / or includes two or more EM trackers (e.g., EM trackers 1222 and 1224, EM trackers 1222 and 1226, EM trackers 1224 and 1226, EM trackers 1222-1226, etc.).

[0104] Referring to FIG. 13, illustrated are images showing examples of a removable EM tracker patch system 1300 (e.g., as an example of a removable EM tracker system such as patch system 1200, etc.) being secured to the probe head 1312 of a TEE probe 1310 (e.g., as an example of the TEE probe 700, etc.) at two potential locations 1320 and 1330 in a transverse orientation (e.g., transverse to a long axis of the TEE probe 1310 and probe head 1312, etc.) on an opposite face from the imaging array face of the probe head 1312. Neither location 1320 nor location 1330 adds to the maximum profile of the TEE probe 1310. However, even at a position on the probe head 1312 with the largest profile, the patch system 1300 provides a minimal increase to the profile of the TEE probe. The wraparound design of the placement of the patch system 1300 adds torsional resistance during probe rotation. The locations 1320 and 1330 of FIG. 13 are shown as examples of locations for attachment of a patch system at non-flexing locations on the TEE probe 1310. Additionally or alternatively, in some examples a patch system such as patch system 1300 is attached to the TEE probe 1310 in a transverse orientation at a location that potentially flexes during use, such as on a steerable region (e.g., the steerable region 704, etc.) or a shaft (e.g., the shaft 706, etc.). Regions of the TEE probe 1310 that flex during use generally have a substantially circular cross section, similar to location 1320, and in various examples, patch systems attached to such locations in a transverse orientation are attached similarly to the patch system 1300 at the location 1320. Because patch systems attached to locations on the TEE probe 1310 that flex during use will also flex during use, such example patch systems include sufficiently flexible materials.

[0105] FIG. 14 illustrates images showing examples of a removable EM tracker patch system 1400 (e.g., as an example of patch system 1200, etc.) being secured to the probe head 1412 of a TEE probe 1410 (e.g., as an example of the TEE probe 700, etc.) at a potential location 1420 in a longitudinal orientation (e.g., along a long axis of the TEE probe 1410 and probe head 1412, etc.) on an opposite face from the imaging array face of the probe head 1412. In various examples, a patch system (e.g., the patch system 1400,etc.) is secured at substantially any location on the probe head (e.g., the probe head 1412, etc.) that does not obstruct the imaging array face. Location 1420 does not add to the maximum profile of the TEE probe 1410. However, even at a position on the probe head 1412 with the largest profile, the patch system 1400 provides a minimal increase to the profile of the TEE probe. The linear design of the placement of the patch system 1400 adds no additional width to the probe, in contrast to some placement locations of a transverse orientation of a removable EM tracker system. In some examples, the shape, orientation, and / or placement of the removable EM tracker system is selected to add torsional resistance similarly to examples in FIG. 13, while adding only minimal or no additional width (e.g., such as location 1320 of FIG. 13, etc.). The location 1420 of FIG. 14 are shown as examples of locations for attachment of a patch system at non- flexing locations on the TEE probe 1410. Additionally or alternatively, in some examples a patch system such as patch system 1400 is attached to the TEE probe 1410 in a transverse orientation at a location that potentially flexes during use, such as on a steerable region (e.g., the steerable region 704, etc.) or a shaft (e.g., the shaft 706, etc.). In various examples, patch systems attached to regions of the TEE probe 1410 that flex during use in a transverse orientation are attached similarly to the patch system 1400 at the location 1420. Because patch systems attached to locations on the TEE probe 1410 that flex during use will also flex during use, such example patch systems include sufficiently flexible materials.

[0106] Referring to FIG. 15A, illustrated is a first example alignment device 1520 that facilitates placement of a removable EM tracker patch system 1500 (e.g., as an example of patch system 1200, etc.) on a probe head 1512 of a TEE probe 1510 (e.g., as an example of TEE probe 700, etc.) at a selected location 1522. FIG. 15B shows a second example alignment device 1530 that facilitates placement of the patch system 1500 (e.g., as an example of patch system 1200, etc.) on the probe head 1512 of a TEE probe 1510 (e.g., as an example of TEE probe 700, etc.) at the selected location 1532. FIG. 15C shows a third example alignment device 1540 that facilitates placement of the patch system 1500 (e.g., as an example of patch system 1200, etc.) on the probe head 1512 of a TEE probe 1510 (e.g., as an example of TEE probe 700, etc.) at the selected location 1542. The alignment devices 1520, 1530, and 1540 are examples of placement tools for aligning the patchsystem 1500 on the probe head 1512 at the selected location 1522, 1532, or 1542, respectively.

[0107] In various examples, alignment device(s) (e.g., the alignment device 1520, 1530, and 1540, etc.) are configured to securely engage with the probe head 1512 of a specific TEE probe 1510. Because of the differences in the shape of the probe head 1512 between different models of TEE probes, alignment device(s) for different models of TEE probes can differ based on the geometry of the selected model the alignment device(s) are designed to connect with. The alignment device(s) are configured to securely engage with the selected model (e.g., by being constructed of a rigid plastic or other material with sufficient flexibility to snap into position with the TEE probe, etc.).

[0108] When the alignment device (e.g., the alignment device 1520, the alignment device 1530, the alignment device 1540, etc.) is connected with the probe head 1512, the removable EM tracker patch system 1500 is able to attached to the probe head 1512 at the selected location (e.g., location 1522, location 1532, location 1542, etc.), which can be at a known location relative to a stationary feature of the probe head 1512 (e.g., the tip of the probe head 1512, etc.) based on the geometry of the probe head 1512 and the alignment device. The example alignment device 1520 is configured to align with a removable EM tracker patch system of a specific design (e.g., the patch system 1500, etc.) with the patch system 1500 in a single location 1522 relative to the example alignment device 1520 (e.g., based on the shapes of the patch system 1500 and the alignment device 1520, etc.), such that the patch system 1500 is aligned with the selected location 1522 when the alignment device 1520 is connected to the probe head 1512. Similarly, when the example alignment device 1530 (or example alignment device 1540) is connected to the probe head 1512, the shape of the alignment device 1530 (or example alignment device 1540) allows a user to align the patch system 1500 with the selected location 1532 (or location 1542, respectively).

[0109] The alignment device(s) allow a user to align the removable EM tracker system 1500 with the selected location 1500 with a high degree of precision. As a result, some examples employing an alignment device (e.g., the alignment device 1520, the alignment device 1530, the alignment device 1540, etc.) for placement of the patch system 1500 are calibrated (e.g., as part of manufacturing, etc.) based on the patch system 1500 beinglocated at the selected location 1522, 1532, or 1542. In various such embodiments, additional on-site calibration (e.g., initial calibration, re-calibration of a baseline calibration such as an initial factory calibration, etc.) is performed after placement of the removable EM tracker system 1500, such as to adjust for minor user error in placement of the removable EM tracker system 1500.

[0110] FIG. 16 illustrates three views of example alignment and calibration devices 1620 and 1630 that facilitate placement and calibration of a removable EM tracker patch system 1600 (e.g., as an example of patch system 1200, etc.) on a probe head 1612 of a TEE probe 1610 (e.g., as an example of TEE probe 700, etc) at a selection location 1622. The example alignment and calibration devices 1620 and 1630 are similar to the example alignment device 1540 (shown from different views) and additionally include one or more EM tracker(s) (e.g., the EM tracker 1624 of the device 1620, the EM trackers 1632 and 1634 of the device 1630, etc.). In various examples, while the probe head 1612 of the TEE probe 1610 is aligned within the device 1620 or 1630, the patch system 1600 is attached to the probe head 1612 at the selected location 1622. In some examples, the device 1620 or 1630 forms at least a portion of a packaging for the patch system 1600, with the patch system 1600 provided within the device 1620 and / or 1630 at a fixed location that corresponds to the selected location 1622 upon alignment of the probe head 1612 with the device 1620 and / or 1630. Additionally, in various examples, while the TEE probe 1610 is aligned with the device 1620 or 1630 with the patch system 1600 attached, the EM tracker(s) of the patch system 1600 are calibrated (e.g., an initial calibration, a recalibration via changes to a baseline or initial factory calibration, etc.) based on the known positions of the EM tracker(s) 1624 / 1632 / 1634 of the device 1620 or 1630. In some such examples, the calibration is performed on site immediately prior to a procedure involving the TEE probe 1610. In various examples, the calibration is performed within a Faraday cage (e.g., to curtail interference from other signals, etc.), such as one included within a cabinet, drawer or other equipment associated with the TEE probe 1610.

[0111] FIG. 17A illustrates a first example calibration system 1700 for calibrating the position of removable EM tracker system(s) such as a patch system 1710 (e.g., the patch system 1200, 1220, etc.) and / or a sheath 1712 (e.g., the sheath 810, etc.) on a TEE probe such as on or adjacent to TEE probe head 1720. FIG. 17B illustrates a second examplecalibration system 1750 for calibrating the position of removable EM tracker system(s) such as a patch systeml710 on a TEE probe head 1720 and / or a sheath 1712. In various examples, the calibration system 1700 includes an EM emitter (not shown) configured to generate a position-dependent EM field and a Faraday cage 1702 configured to isolate the interior of the system 1700 or 1750 from external EM fields. One or more removable EM tracker system(s) such as the patch system 1710 and / or the sheath 1712 are attached to the TEE probe, and the TEE probe head 1720 is placed in a calibration tool 1730 or 1760 (e.g., which in some examples is the example device 1540, 1620 or 1630, etc.). In some examples, the calibration tool 1730 or 1760 is at a fixed position relative to the EM emitter of the calibration system 1700 or 1750, respectively, and is configured to connect with the specific model of the TEE probe head 1720, thereby securing the TEE probe head 1720 in a fixed location relative to the EM emitter. In the same or other examples, the calibration of the removable EM tracker system(s) (e.g., the patch system 1710, the sheath 1712, etc.) is additionally or alternatively based on a position relative to detected position(s) of EM tracker(s) of the calibration tool 1730 or 1760 (e.g., as determined via the sensed position(s) of the EM tracker(s) of the calibration tool 1730 or 1760, etc.). Based on the EM field sensed by the removable EM tracker system 1710, the position of the removable EM tracker system 1710 relative to the EM emitter can be determined. From the relative position determined between the removable EM tracker system 1710 and the known fixed position of the TEE probe head 1720, the position of the removable EM tracker system(s) (e.g., the patch system 1710, the sheath 1712, etc.) relative to the TEE probe head 1720 can be determined.

[0112] In various examples, the calibration system 1700 or 1750 is capable of being employed in connection with multiple models of TEE probes. In some such examples, the calibration tool 1730 or 1760 or a portion of the calibration tool 1730 or 1760 (e.g., an adapter of a plurality of potential adapters, etc.) is shaped to couple to the TEE probe head 1720 of the specific model of TEE probe and to the calibration system 1700 or 1750, respectively, at a fixed location or at a relative location to a detected position of an EM tracker in the calibration tool 1730 or 1760.

[0113] In examples capable of calibration in connection with multiple models of TEE probes, a user selects the probe model via a computer and / or imaging system console (e.g.,the computing device 100, the system 200, etc.). In such examples, the user pairs the calibration tool 1730 or 1760 and the removable EM tracker system 1710 or 1712 to the computer / console. The user in such examples places the probe head 1720 into a calibration tool 1730 or 1760 that is specifically designed to connect to the model of TEE probe (e.g., or a portion of the calibration tool 1730 or 1760, such as an adapter for that model of TEE probe, etc.) and initiates a calibration procedure. In various examples, the calibration tool 1730 or 1760 has a shape (e.g., including one or more cavities, one or more faces, etc.) configured to align with a specific model of TEE probe head 1720 to secure the probe head 1720 in a fixed position during calibration, thereby improving the accuracy of the calibration. In various examples, the calibration tool 1730 or 1760 and the removable EM tracker system(s) (e.g., patch system 1710, sheath 1712, etc.) are paired with the calibration system 1700 or 1750, respectively, to initiate calibration of the removable EM tracker system(s) (e.g., patch system 1710, sheath 1712, etc.) for the TEE probe.

[0114] The calibration tool 1730 or 1760 is contained within the calibration system 1700 or 1750, respectively, which in various examples includes a Faraday cage 1702 around the interior of the calibration system 1700 or 1750 to reduce EM noise from the surrounding environment (e.g., which may include various operating room equipment, etc.). In some examples, the calibration system 1700 or 1750 is built into a cabinet or a drawer of movable equipment that also includes a computer (e.g., computing environment 100, system 200, etc.) capable of generating a 3D model of a region of interest in connection with various examples.

[0115] The calibration system 1700 or 1750 includes a small EM emitter (e.g., based on the size of the calibration system 1700 or 1750, etc.) that generates a positiondependent EM field (e.g., similarly to EM field generator 121, etc.) for calibration of the removable EM tracker system(s) 1710 and / or 1712 (e.g., determining the precise position of the removable EM tracker system(s) 1710 and / or 1712 relative to the probe head 1720, such as for accurately representing the position of the probe head 1720 in connection with a 3D model of a region of interest and US views of the region of interest.

[0116] In various examples, the position of the EM emitter and the calibration tool 1730 or 1760 within the calibration system 1700 or 1750 (e.g., within the Faraday cage1702, etc.) are fixed, such that the position of the probe head 1720 (e.g., some fixed point(s) of the probe head 1720, such as the tip, etc.) relative to the EM emitter is known based on the model of the TEE probe. In some examples, the calibration tool 1730 or 1760 or portion(s) thereof (e.g., adapter(s), etc.) is configured such that the position of the probe head 1720 (e.g., some fixed point(s) of the probe head 1720, such as the tip, etc.) relative to the EM emitter is the same for multiple models of TEE probes. In the same or other examples, the calibration of the removable EM tracker system(s) (e.g., the patch system 1710, the sheath 1712, etc.) is additionally or alternatively based on position relative to detected position(s) of EM tracker(s) of the calibration tool 1730 or 1760 (e.g., as determined via the sensed position(s) of the EM tracker(s) of the calibration tool 1730 or 1760, etc.). Based on the known position of the probe head 1720 (e.g., or fixed point(s) thereof, etc.) and the detected position of the removable EM tracker system(s) 1710 or 1712, the calibration system 1700 or 1750 calibrates the orientation and distance of the probe head 1720 relative to the removable EM tracker system(s) 1710 or 1712. In various examples, the calibration system 1700 or 1750 calibrates the removable EM tracker system(s) 1710 and / or 1712 by updating a baseline (e.g., factory, etc.) calibration for the removable EM tracker system(s) 1710 and / or 1712 based on the relative orientation and distance. In other examples, the calibration system 1700 or 1750 calibrates the removable EM tracker system(s) 1710 and / or 1712 by providing an initial calibration for the removable EM tracker system(s) 1710 and / or 1712 based on the relative orientation and distance. Additionally, based on the relative orientation and distance and the detected position of the removable EM tracker system(s) 1710 and / or 1712 during a procedure, various examples accurately determine and represent the position of the probe head 1720 in a 3D model of a region of interest.

[0117] Additionally or alternatively, various examples calibrate the position of EM tracker(s) of a removable EM tracker system such as a patch system (e.g., the patch system 1200, 1220, etc.) and / or a sheath (e.g., the sheath 810, etc.) via any of a variety of other calibration techniques, such as pivot calibration, etc.

[0118] Various examples are employable in connection with a range of procedures. One example use case is a clinical procedure for transcatheter mitral valve replacement (TMVR), but examples are also employable in connection with a range of other scenarios,including other intracardiac transcatheter procedures such as transcatheter edge-to-edge repair (TEER), other transcatheter valve replacement or repair procedures, annuloplasty, left atrial appendage occlusion (LAAO), etc.

[0119] One use case of examples discussed herein is TMVR, which involves multiple stages. In a transfemoral stage, access to the femoral vein is achieved via cutdown or percutaneous and a puncture is made in the atrial septum and dilated. In a transseptal stage, a sheath is introduced and advanced to the vena cava and the sheath is installed in the septal puncture. In a mitral valve replacement stage, a delivery system is passed through the sheath and into the left atrium (LA), the delivery system is manipulated into the mitral valve annulus, and the replacement valve is deployed. In a system removal stage, the delivery system is recombined and manipulated out of the implant and the delivery system is retracted into the sheath and removed from the patient.

[0120] Referring to FIG. 18, illustrated are images showing stages of a TMVR procedure. At 1810, the sheath is advanced into the LA. At 1820, the catheter is advanced into the LA. At 1830, the catheter is advanced across the mitral valve (MV) annulus. At 1840, the brim of the replacement valve is expanded. At 1850, the replacement valve is advanced to a target location. At 1860, the valve fixation ring is expanded. At 1870, the valve is fully deployed. At 1880, the delivery system is closed and retracted.

[0121] As can be seen in FIG. 18, TMVR is a complex procedure involving a number of stages, many of which involve actions being performed at precise locations. Many of these actions occur at locations that are not co-planar with one another, but which are performed at distinct locations in the 3D cardiac environment. However, because of the specific nature of the procedure, many of the locations of these actions, as well as views that are advantageous to performing these actions, can be known in advance.Conventional imaging systems and user interfaces fail to provide the multiple different view planes that are involved in a complex procedure such as TMVR without substantial user effort to manually acquire (and often subsequently reacquire) the view planes that facilitate those procedures. Additionally, conventional systems fail to provide any user guidance or feedback regarding whether a desired view has been acquired or reacquired with sufficient precision for the procedure.

[0122] In view of the foregoing structural and functional features described above, example methods will be better appreciated with reference to FIGS. 19-22. While, for purposes of simplicity of explanation, the example methods of FIGS. 19-22 are shown and described as executing serially, it is to be understood and appreciated that the present examples are not limited by the illustrated order, as some actions could in other examples occur in different orders, multiple times and / or concurrently from that shown and described herein. Moreover, it is not necessary that all described actions be performed to implement a method.

[0123] FIG. 19 illustrates a flowchart of a first example method 1900 for providing US imaging data for a region of interest via a user interface. In other examples, the blocks of example method 1900 are a set of machine-readable instructions on a non-transitory machine-readable medium or are a set of operations performed by a processor executing machine-readable instructions as the operations.

[0124] At block 1910, method 1900 includes receiving 3D US data for a region of interest (e.g., a cardiac region of a patient, etc.) from a US probe (e.g., US imager 140, which in some examples is a TEE probe, etc.). In various examples, the 3D US data is obtained by combining multiple imaging views, such as based on one or more of changes in sweep angle, movement of the US probe, biplane, MFR, 3D acquisition, etc.

[0125] At block 1920, method 1900 includes receiving position and orientation tracking data for the US probe relative to the region of interest, such as from an EM tracking system. Additionally, in various examples, tracked position / orientation data is also received for one or more instruments / de vices, such as instrument 130, a transcatheter device, etc.

[0126] At block 1930, method 1900 includes constructing a 3D model of the region of interest based on the 3D US data, the position / orientation data of the US probe, and position / orientation data of any tracked devices / instruments.

[0127] At block 1940, method 1900 includes determining a selected sweep angle for the US probe. In various examples, a current sweep angle is imported from a US system (e.g., US workstation 150, etc.).

[0128] At block 1950, method 1900 includes displaying (e.g., via display 110, etc.) a 2D US image of a portion of the region of interest based on the 3D model, theposition / orientation of the US probe, and the selected sweep angle. In various examples, the 2D US image displayed is rotated to reflect the actual position / orientation of the US probe relative to the region of interest based on the position / orientation of the US probe tracked relative to the 3D model.

[0129] Additionally, in some examples, method 1900 includes one or more additional actions, including actions discussed in connection with various examples. FIGS. 20A, 20B, 21 A, and 21 B are provided as four specific examples of additional actions that can be included in variations on method 1900; however, additional examples exist in connection with actions discussed in connection with other examples.

[0130] FIG. 20A illustrates a flowchart of a second example method 2000 for providing US imaging data for a region of interest via a user interface. In other examples, the blocks of example method 2000 are a set of machine-readable instructions on a non- transitory machine-readable medium or are a set of operations performed by a processor executing machine-readable instructions as the operations. Method 2000 includes blocks 1910-1950 of method 1900, and additionally includes block 2010.

[0131] At block 2010, method 2000 includes adding a view (e.g., a current view, such as on display 110, etc.) to a set of saved views for the 3D model of the region of interest, based on a user selection. In some examples, the user selection indicates a current view to be the view added to the set of saved views. In other examples, the user selection indicates a set of markers (e.g., 3 markers, etc.) and optionally a tracked instrument or device (e.g., 2 markers and a tracked instrument such as instrument 130, for example, a transcatheter device) that define a plane of the view to be saved.

[0132] FIG. 20B illustrates a flowchart of a third example method 2020 for providing US imaging data for a region of interest via a user interface. In other examples, the blocks of example method 2020 are a set of machine-readable instructions on a non-transitory machine-readable medium or are a set of operations performed by a processor executing machine-readable instructions as the operations. Method 2020 includes blocks 1910-1950 and block 2010 of method 2000, and additionally includes block 2030.

[0133] At block 2030, method 2020 includes automatically defining one or more markers based on the view added to the set of saved views. In various examples, the marker(s) are automatically defined based on detected features of the view added to the setof saved views, and in some examples are based on user identification of the view and / or a stage of a procedure. As one specific example, the view added to the set of saved views is an en face view of a mitral valve, and the automatically detected markers include hinge points of a leaflet.

[0134] FIG. 21 A illustrates a flowchart of a fourth example method 2100 for providing US imaging data for a region of interest via a user interface. In other examples, the blocks of example method 2100 are a set of machine-readable instructions on a non-transitory machine-readable medium or are a set of operations performed by a processor executing machine-readable instructions as the operations. Method 2100 includes blocks 1910-1950 of method 1900, and additionally includes block 2110.

[0135] At block 2110, method 2100 includes automatically moving the US probe based on a selected view of a set of saved views or a sweep angle, such as to align with the selected view.

[0136] FIG. 2 IB illustrates a flowchart of a fifth example method 2120 for providing US imaging data for a region of interest via a user interface. In other examples, the blocks of example method 2120 are a set of machine-readable instructions on a non-transitory machine-readable medium or are a set of operations performed by a processor executing machine-readable instructions as the operations. Method 2120 includes blocks 1910-1950 of method 1900, and additionally includes block 2130.

[0137] At block 2130, method 2120 includes generating an alert or user notification of a potential collision of the US probe, such as with patient anatomy. As one specific example, in response to an attempt to automatically move a TEE probe to align with a selected view, an alert can be generated in response to detecting that movement of the TEE probe would contact or apply excessive pressure to an esophagus of a patient.

[0138] FIG. 22 illustrates a flowchart of an example method 2200 for calibrating the position and orientation of an EM tracker (e.g., the EM tracker 812, the EM tracker 1202, etc.) of a removable EM tracker system (e.g., the sleeve 810, the patch system 1200, etc.) relative to a probe head (e.g., probe head 702, etc.) of a TEE probe (e.g., the TEE probe 700, etc.). In other examples, the blocks of example method 2200 are a set of machine- readable instructions on a non-transitory machine -readable medium or are a set ofoperations performed by a processor executing machine-readable instructions as the operations.

[0139] At block 2210, method 2100 includes attaching an EM tracker (e.g., of a removable EM tracker system such as a patch system (e.g., the patch system 1200, etc.) or a sheath (e.g., the sheath 810, etc.)) to a TEE probe at a selected location (e.g., the probe head 702 of the TEE probe 700, etc.). In various examples wherein the EM tracker is included within a removable EM tracker system, the removable EM tracker system is attached by using an alignment device (e.g., the example alignment device 1520, 1530, 1540, the example alignment and calibration device 1620 or 1630, etc.).

[0140] At block 2220, method 2200 includes selecting via a computer (e.g., the computing device 100, the system 200, etc.) a model of the TEE probe head for calibration (e.g., via a calibration system 1700 or 1750, etc.).

[0141] At block 2230, method 2200 includes pairing the EM tracker and a calibration tool (e.g., the calibration tool 1730 or 1760, etc.) with the computer. In situations wherein the calibration tool paired with the computer is not designed for the model of TEE probe selected at block 2220, in various examples an alert is generated and / or the method 2200 returns to block 2220 or block 2230.

[0142] At block 2240, method 2200 includes placing at least a portion of the TEE probe (e.g., the TEE probe head, the TEE probe head and an adjacent strain relief, etc.) into the calibration tool. In various examples, the calibration tool is designed to fit the specific shape of a model of TEE probe. Additionally, in various examples, the portion of the probe is placed in the calibration tool within the calibration system, which includes an EM emitter and a Faraday cage around the portion of the probe and the calibration tool.

[0143] At block 2250, method 2200 includes calibrating the position (e.g., the orientation and distance, etc.) of the EM tracker relative to one or more points on the probe (e.g., relative to a fixed point of the probe head, etc.). Depending on the EM tracker, the calibration is one of an initial calibration or a recalibration (e.g., updating) of an initial or baseline (e.g., factory, etc.) calibration. In various examples, the relative positions of the EM emitter of the calibration system and one or more fixed points of the probe are known from a fixed position of the EM emitter, a fixed position of the calibration tool, and the model of the TEE probe. Additionally, the relative positions ofthe EM emitter and the EM tracker are able to be determined from the EM field sensed by the EM tracker (e.g., EM tracker 812, EM tracker 1202, etc.). The relative positions of the EM tracker and the probe are used in various examples to track portions of the probe (e.g., the probe head, etc.) in a 3D model of a region of interest, to represent views in connection with US data from the TEE probe, etc.

[0144] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the techniques). In addition, while certain aspects of this disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that the techniques of this disclosure may be performed by a combination of units or modules associated with, for example, a medical device.

[0145] In one or more examples, the described techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Computer-readable media may include non-transitory computer-readable media, which corresponds to a tangible medium such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0146] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0147] The following additional examples are provided in connection with various aspects.1. A user interface system for imaging a region of interest, the system comprising: a memory for storing machine-readable instructions; and a processor core for accessing the machine-readable instructions and executing the machine-readable instructions as operations, the operations comprising: receiving ultrasound (US) data for the region of interest from a US probe; receiving tracking data indicating a position of the US probe relative to the region of interest and an orientation of the US probe relative to the region of interest, wherein the tracking data is received from a tracker integrated with or temporarily secured to the US probe at a known relative position and a known relative orientation to a fixed point of the US probe; constructing a three-dimensional (3D) model of the region of interest based on the US data, wherein the 3D model tracks the position of the US probe relative to the region of interest and the orientation of the US probe relative to the region of interest based on the tracking data; determining a selected sweep angle for the US probe; and displaying an output US image of a portion of the region of interest based on the 3D model, the position of the US probe relative to the region of interest, the orientation of the US probe relative to the region of interest, and the selected sweep angle.2. The user interface system of example 1, wherein the operations further comprise receiving additional tracking data indicating a position of an instrument relative to the region of interest and an orientation of the instrument relative to the region of interest, wherein the 3D model tracks the position of the instrument relative to the region of interest and the orientation of the instrument relative to the region of interest.3. The user interface system of example 2, wherein determining the selected sweep angle comprises automatically adjusting the selected sweep angle in response to a change in the position of the instrument or the orientation of the instrument.4. The user interface system of any of examples 2-3, wherein displaying the output US image comprise displaying an indicator in response to the orientation of the instrument being outside of a plane of the output US image or to the position of the instrument being outside of the plane of the output US image.5. The user interface system of any of examples 1-4, wherein the selected sweep angle is determined based on a first set of markers defined on the 3D model of the region of interest.6. The user interface system of any of examples 1-5, wherein the 3D model of the region of interest comprises a set of saved views and a first view of the set of saved views has an associated plane through the 3D model.7. The user interface system of example 6, wherein the operations further comprise adding a second view of the region of interest to the set of saved views, wherein the second view is based on the output US image.8. The user interface system of example 7, wherein the operations further comprise automatically defining a second set of markers on the 3D model of the region of interest, based on analysis of the output US image.9. The user interface system of any of examples 6-8, wherein the operations further comprise adding a third view of the region of interest to the set of saved views, wherein the third view is based on a plane defined by three selected markers defined on the 3D model of the region of interest.10. The user interface system of any of examples 6-9, wherein displaying the output US image further comprises displaying a representation of a fourth view of a set of saved views relative to the output US image, wherein the fourth view has an associated plane that is not co-planar with an associated plane of the output US image.11. The user interface system of any of examples 6-10, wherein the first view of the set of views comprises a set of saved US parameters associated with the first view.12. The user interface system of any of examples 5-11, wherein displaying the output US image comprises automatically moving the US probe based on a selected saved view of the set of saved views.13. The user interface system of example 12, wherein the operations further comprise generating an alert based on a potential collision of the US probe.14. The user interface system of any of examples 5-13, wherein the operations further comprise generating an alert that comprises user guidance associated with aligning the US probe with a selected saved view of the set of saved views.15. The user interface system of any of examples 1-14, wherein the operations further comprise preventing movement of the US probe in a given direction based on a potential collision of the US probe.16. The user interface system of any of examples 1-15, wherein displaying the output US image comprises automatically adjusting a current sweep angle of the US probe based on the selected saved view.17. The user interface system of any of examples 1-16, wherein the output US image is one of a two-dimensional (2D) US image or a 3D US image.18. The user interface system of any of examples 1-17, wherein the tracker is an electromagnetic (EM) tracker.19. A method for providing imaging data of a region of interest, comprising: receiving ultrasound (US) data for the region of interest from a US probe; receiving tracking data indicating a position of the US probe relative to the region of interest and an orientation of the US probe relative to the region of interest, wherein the tracking data is received from a tracker integrated with or temporarily secured to the US probe at a known relative position and a known relative orientation to a fixed point of the US probe; constructing a three-dimensional (3D) model of the region of interest based on the US data, wherein the 3D model tracks the position of the US probe relative to the region of interest and the orientation of the US probe relative to the region of interest based on the tracking data; determining a selected sweep angle for the US probe; and displaying an output US image of a portion of the region of interest based on the 3D model, the position of the US probe relative to the region of interest, the orientation of the US probe relative to the region of interest, and the selected sweep angle.20. The method of example 19, further comprising: receiving additional tracking data indicating a position of an instrument relative to the region of interest and an orientation of the instrument relative to the region of interest,wherein the 3D model tracks the position of the instrument relative to the region of interest and the orientation of the instrument relative to the region of interest.21. The method of example 20, wherein determining the selected sweep angle comprises automatically adjusting the selected sweep angle in response to a change in the position of the instrument or the orientation of the instrument.22. The method of any of examples 20-21, wherein displaying the output US image comprise displaying an indicator in response to the orientation of the instrument being outside of a plane of the output US image or to the position of the instrument being outside of the plane of the output US image.23. The method of any of examples 19-22, wherein the selected sweep angle is determined based on a first set of markers defined on the 3D model of the region of interest.24. The method of any of examples 19-23, wherein the 3D model of the region of interest comprises a set of saved views and a first view of the set of saved views has an associated plane through the 3D model.25. The method of example 24, further comprising adding a second view of the region of interest to the set of saved views, wherein the second view is based on the output US image.26. The method of example 25, further comprising automatically defining a second set of markers on the 3D model of the region of interest, based on analysis of the output US image.27. The method of any of examples 24-26, further comprising adding a third view of the region of interest to the set of saved views, wherein the third view is based on a plane defined by three selected markers defined on the 3D model of the region of interest.28. The method of any of examples 24-27, wherein displaying the output US image further comprises displaying a representation of a fourth view of a set of saved views relative to the output US image, wherein the fourth view has an associated plane that is not co-planar with an associated plane of the output US image.29. The method of any of examples 24-28, wherein the first view of the set of views comprises a set of saved US parameters associated with the first view.30. The method of any of examples 19-29, wherein displaying the output US image comprises automatically moving the US probe based on a selected saved view of the set of saved views.31. The method of example 30, further comprising generating an alert based on a potential collision of the US probe.32. The method of any of examples 23-31, wherein the operations further comprise generating an alert that comprises user guidance associated with aligning the US probe with a selected saved view of the set of saved views.33. The method of any of examples 19-32, wherein the operations further comprise preventing movement of the US probe in a given direction based on a potential collision of the US probe.34. The method of any of examples 19-33, wherein displaying the output US image comprises automatically adjusting a current sweep angle of the US probe based on the selected saved view.35. The method of any of examples 19-34, wherein the output US image is one of a two-dimensional (2D) US image or a 3D US image.36. The method of any of examples 19-35, wherein the tracker is an electromagnetic (EM) tracker.37. A non-transitory machine-readable medium having machine executable instructions for a user interface system that causes a processor core to execute operations, the operations comprising: receiving ultrasound (US) data for a region of interest from a US probe; receiving tracking data indicating a position of the US probe relative to the region of interest and an orientation of the US probe relative to the region of interest, wherein the tracking data is received from a tracker integrated with or temporarily secured to the US probe at a known relative position and a known relative orientation to a fixed point of the US probe; constructing a three-dimensional (3D) model of the region of interest based on the US data, wherein the 3D model tracks the position of the US probe relative to the region of interest and the orientation of the US probe relative to the region of interest based on the tracking data;determining a selected sweep angle for the US probe; and displaying an output US image of a portion of the region of interest based on the 3D model, the position of the US probe relative to the region of interest, the orientation of the US probe relative to the region of interest, and the selected sweep angle.38. The non-transitory machine-readable medium of example 37, wherein the operations further comprise receiving additional tracking data indicating a position of an instrument relative to the region of interest and an orientation of the instrument relative to the region of interest, wherein the 3D model tracks the position of the instrument relative to the region of interest and the orientation of the instrument relative to the region of interest.39. The non-transitory machine-readable medium of example 37, wherein determining the selected sweep angle comprises automatically adjusting the selected sweep angle in response to a change in the position of the instrument or the orientation of the instrument.40. The non-transitory machine-readable medium of any of examples 38-39, wherein displaying the output US image comprise displaying an indicator in response to the orientation of the instrument being outside of a plane of the output US image or to the position of the instrument being outside of the plane of the output US image.41. The non-transitory machine-readable medium of any of examples 37-40, wherein the selected sweep angle is determined based on a first set of markers defined on the 3D model of the region of interest.42. The non-transitory machine-readable medium of any of examples 37-41, wherein the 3D model of the region of interest comprises a set of saved views and a first view of the set of saved views has an associated plane through the 3D model.43. The non-transitory machine-readable medium of example 42, wherein the operations further comprise adding a second view of the region of interest to the set of saved views, wherein the second view is based on the output US image.44. The non-transitory machine-readable medium of example 43, wherein the operations further comprise automatically defining a second set of markers on the 3D model of the region of interest, based on analysis of the output US image.45. The non-transitory machine-readable medium of any of examples 42-44, wherein the operations further comprise adding a third view of the region of interest to the set ofsaved views, wherein the third view is based on a plane defined by three selected markers defined on the 3D model of the region of interest.46. The non-transitory machine-readable medium of any of examples 42-45, wherein displaying the output US image further comprises displaying a representation of a fourth view of a set of saved views relative to the output US image, wherein the fourth view has an associated plane that is not co-planar with an associated plane of the output US image.47. The non-transitory machine-readable medium of any of examples 42-46, wherein the first view of the set of views comprises a set of saved US parameters associated with the first view.48. The non-transitory machine-readable medium of any of examples 37-47, wherein displaying the output US image comprises automatically moving the US probe based on a selected saved view of the set of saved views.49. The non-transitory machine-readable medium of example 48, wherein the operations further comprise generating an alert based on a potential collision of the US probe.50. The non-transitory machine-readable medium of any of examples 41-49, wherein the operations further comprise generating an alert that comprises user guidance associated with aligning the US probe with a selected saved view of the set of saved views.51. The non-transitory machine-readable medium of any of examples 37-50, wherein the operations further comprise preventing movement of the US probe in a given direction based on a potential collision of the US probe.52. The non-transitory machine-readable medium of any of examples 37-51, wherein displaying the output US image comprises automatically adjusting a current sweep angle of the US probe based on the selected saved view.53. The non-transitory machine-readable medium of any of examples 37-52, wherein the output US image is one of a two-dimensional (2D) US image or a 3D US image.54. The non-transitory machine-readable medium of any of examples 37-53, wherein the tracker is an electromagnetic (EM) tracker.55. A user interface system for an intracardiac transcatheter procedure, the system comprising: a memory for storing machine-readable instructions; anda processor core for accessing the machine-readable instructions and executing the machine-readable instructions as operations, the operations comprising: receiving ultrasound (US) data for a region of interest of the intracardiac transcatheter procedure from an echocardiogram probe; receiving tracking data indicating a position of the echocardiogram probe relative to the region of interest and an orientation of the echocardiogram probe relative to the region of interest, wherein the tracking data is received from a tracker integrated with or temporarily secured to the echocardiogram probe at a known relative position and a known relative orientation to a fixed point of the echocardiogram probe; constructing a three-dimensional (3D) model of the region of interest based on the US data, wherein the 3D model tracks the position of the echocardiogram probe relative to the region of interest and the orientation of the echocardiogram probe relative to the region of interest based on the tracking data; determining a selected sweep angle for the echocardiogram probe; and displaying an output ultrasound image of a portion of the region of interest based on the 3D model, the position of the echocardiogram probe relative to the region of interest, the orientation of the echocardiogram probe relative to the region of interest, and the selected sweep angle.56. The user interface system of example 55, wherein the operations further comprise receiving additional tracking data indicating a position of a transcatheter device relative to the region of interest and an orientation of the transcatheter device relative to the region of interest, wherein the 3D model tracks the position of the transcatheter device relative to the region of interest and the orientation of the transcatheter device relative to the region of interest.57. The user interface system of example 56, wherein determining the selected sweep angle comprises automatically adjusting the selected sweep angle in response to a change in the position of the transcatheter device or the orientation of the transcatheter device.58. The user interface system of any of examples 56-57, wherein displaying the output US image comprise displaying an indicator in response to the orientation of thetranscatheter device being outside of a plane of the output US image or to the position of the transcatheter device being outside of the plane of the output US image.59. The user interface system of any of examples 55-58, wherein the selected sweep angle is determined based on a first set of markers defined on the 3D model of the region of interest.60. The user interface system of any of examples 55-59, wherein the 3D model of the region of interest comprises a set of saved views and a first view of the set of saved views has an associated plane through the 3D model.61. The user interface system of example 60, wherein the operations further comprise adding a second view of the region of interest to the set of saved views, wherein the second view is based on the output US image.62. The user interface system of example 61, wherein the operations further comprise automatically defining a second set of markers on the 3D model of the region of interest, based on analysis of the output US image.63. The user interface system of any of examples 60-62, wherein the operations further comprise adding a third view of the region of interest to the set of saved views, wherein the third view is based on a plane defined by three selected markers defined on the 3D model of the region of interest.64. The user interface system of any of examples 60-63, wherein displaying the output US image further comprises displaying a representation of a fourth view of a set of saved views relative to the output US image, wherein the fourth view has an associated plane that is not co-planar with an associated plane of the output US image.65. The user interface system of any of examples 60-64, wherein the first view of the set of views comprises a set of saved US parameters associated with the first view.66. The user interface system of any of examples 55-65, wherein displaying the output US image comprises automatically moving the echocardiogram probe based on a selected saved view of the set of saved views.67. The user interface system of example 66, wherein the operations further comprise generating an alert based on a potential collision of the echocardiogram probe.68. The user interface system of any of examples 59-67, wherein the operations further comprise generating an alert that comprises user guidance associated with aligning the echocardiogram probe with a selected saved view of the set of saved views.69. The user interface system of any of examples 55-68, wherein the operations further comprise preventing movement of the echocardiogram probe in a given direction based on a potential collision of the echocardiogram probe.70. The user interface system of any of examples 55-69, wherein displaying the output US image comprises automatically adjusting a current sweep angle of the echocardiogram probe based on the selected saved view.71. The user interface system of any of examples 55-70, wherein the output US image is one of a two-dimensional (2D) US image or a 3D US image.72. The user interface system of any of examples 55-71, wherein the tracker is an electromagnetic (EM) tracker.73. A method for providing imaging data of a region of interest of an intracardiac transcatheter procedure, comprising: receiving ultrasound (US) data for the region of interest of the intracardiac transcatheter procedure from an echocardiogram probe; receiving tracking data indicating a position of the echocardiogram probe relative to the region of interest and an orientation of the echocardiogram probe relative to the region of interest, wherein the tracking data is received from a tracker integrated with or temporarily secured to the echocardiogram probe at a known relative position and a known relative orientation to a fixed point of the echocardiogram probe; constructing a three-dimensional (3D) model of the region of interest based on the US data, wherein the 3D model tracks the position of the echocardiogram probe relative to the region of interest and the orientation of the echocardiogram probe relative to the region of interest based on the tracking data; determining a selected sweep angle for the echocardiogram probe; and displaying an output ultrasound image of a portion of the region of interest based on the 3D model, the position of the echocardiogram probe relative to the region of interest, the orientation of the echocardiogram probe relative to the region of interest, and the selected sweep angle.74. The method of example 73, further comprising: receiving additional tracking data indicating a position of a transcatheter device relative to the region of interest and an orientation of the transcatheter device relative to the region of interest, wherein the 3D model tracks the position of the transcatheter device relative to the region of interest and the orientation of the transcatheter device relative to the region of interest.75. The method of example 74, wherein determining the selected sweep angle comprises automatically adjusting the selected sweep angle in response to a change in the position of the transcatheter device or the orientation of the transcatheter device.76. The method of any of examples 74-75, wherein displaying the output US image comprise displaying an indicator in response to the orientation of the transcatheter device being outside of a plane of the output US image or to the position of the transcatheter device being outside of the plane of the output US image.77. The method of any of examples 73-76, wherein the selected sweep angle is determined based on a first set of markers defined on the 3D model of the region of interest.78. The method of any of examples 73-77, wherein the 3D model of the region of interest comprises a set of saved views and a first view of the set of saved views has an associated plane through the 3D model.79. The method of example 78, further comprising adding a second view of the region of interest to the set of saved views, wherein the second view is based on the output US image.80. The method of example 79, further comprising automatically defining a second set of markers on the 3D model of the region of interest, based on analysis of the output US image.81. The method of any of examples 78-80, further comprising adding a third view of the region of interest to the set of saved views, wherein the third view is based on a plane defined by three selected markers defined on the 3D model of the region of interest.82. The method of any of examples 78-81, wherein displaying the output US image further comprises displaying a representation of a fourth view of a set of saved viewsrelative to the output US image, wherein the fourth view has an associated plane that is not co-planar with an associated plane of the output US image.83. The method of any of examples 78-82, wherein the first view of the set of views comprises a set of saved US parameters associated with the first view.84. The method of any of examples 69-83, wherein displaying the output US image comprises automatically moving the echocardiogram probe based on a selected saved view of the set of saved views.85. The method of example 84, further comprising generating an alert based on a potential collision of the echocardiogram probe.86. The method of any of examples 77-85, wherein the operations further comprise generating an alert that comprises user guidance associated with aligning the echocardiogram probe with a selected saved view of the set of saved views.87. The method of any of examples 73-86, wherein the operations further comprise preventing movement of the echocardiogram probe in a given direction based on a potential collision of the echocardiogram probe.88. The method of any of examples 73-87, wherein displaying the output US image comprises automatically adjusting a current sweep angle of the echocardiogram probe based on the selected saved view.89. The method of any of examples 73-88, wherein the output US image is one of a two-dimensional (2D) US image or a 3D US image.90. The method of any of examples 37-53, wherein the tracker is an electromagnetic (EM) tracker.91. A non-transitory machine-readable medium having machine executable instructions for a user interface system that causes a processor core to execute operations, the operations comprising: receiving ultrasound (US) data for a region of interest of the intracardiac transcatheter procedure from an echocardiogram probe; receiving tracking data indicating a position of the echocardiogram probe relative to the region of interest and an orientation of the echocardiogram probe relative to the region of interest, wherein the tracking data is received from a tracker integrated with ortemporarily secured to the echocardiogram probe at a known relative position and a known relative orientation to a fixed point of the echocardiogram probe; constructing a three-dimensional (3D) model of the region of interest based on the US data, wherein the 3D model tracks the position of the echocardiogram probe relative to the region of interest and the orientation of the echocardiogram probe relative to the region of interest based on the tracking data; determining a selected sweep angle for the echocardiogram probe; and displaying an output ultrasound image of a portion of the region of interest based on the 3D model, the position of the echocardiogram probe relative to the region of interest, the orientation of the echocardiogram probe relative to the region of interest, and the selected sweep angle.92. The non-transitory machine-readable medium of example 91, wherein the operations further comprise receiving additional tracking data indicating a position of a transcatheter device relative to the region of interest and an orientation of the transcatheter device relative to the region of interest, wherein the 3D model tracks the position of the transcatheter device relative to the region of interest and the orientation of the transcatheter device relative to the region of interest.93. The non-transitory machine-readable medium of example 92, wherein determining the selected sweep angle comprises automatically adjusting the selected sweep angle in response to a change in the position of the transcatheter device or the orientation of the transcatheter device.94. The non-transitory machine-readable medium of any of examples 92-93, wherein displaying the output US image comprise displaying an indicator in response to the orientation of the transcatheter device being outside of a plane of the output US image or to the position of the transcatheter device being outside of the plane of the output US image.95. The non-transitory machine-readable medium of any of examples 91-94, wherein the selected sweep angle is determined based on a first set of markers defined on the 3D model of the region of interest.96. The non-transitory machine-readable medium of any of examples 91-95, wherein the 3D model of the region of interest comprises a set of saved views and a first view of the set of saved views has an associated plane through the 3D model.97. The non-transitory machine-readable medium of example 96, wherein the operations further comprise adding a second view of the region of interest to the set of saved views, wherein the second view is based on the output US image.98. The non-transitory machine-readable medium of example 97, wherein the operations further comprise automatically defining a second set of markers on the 3D model of the region of interest, based on analysis of the output US image.99. The non-transitory machine-readable medium of any of examples 96-98, wherein the operations further comprise adding a third view of the region of interest to the set of saved views, wherein the third view is based on a plane defined by three selected markers defined on the 3D model of the region of interest.100. The non-transitory machine-readable medium of any of examples 96-99, wherein displaying the output US image further comprises displaying a representation of a fourth view of a set of saved views relative to the output US image, wherein the fourth view has an associated plane that is not co-planar with an associated plane of the output US image.101. The non-transitory machine-readable medium of any of examples 96-100, wherein the first view of the set of views comprises a set of saved US parameters associated with the first view.102. The non-transitory machine-readable medium of any of examples 91-91016, wherein displaying the output US image comprises automatically moving the echocardiogram probe based on a selected saved view of the set of saved views.103. The non-transitory machine-readable medium of example 102, wherein the operations further comprise generating an alert based on a potential collision of the echocardiogram probe.104. The non-transitory machine-readable medium of any of examples 95-103, wherein the operations further comprise generating an alert that comprises user guidance associated with aligning the echocardiogram probe with a selected saved view of the set of saved views.105. The non-transitory machine-readable medium of any of examples 91-104, wherein the operations further comprise preventing movement of the echocardiogram probe in a given direction based on a potential collision of the echocardiogram probe.106. The non-transitory machine-readable medium of any of examples 91-105, wherein displaying the output US image comprises automatically adjusting a current sweep angle of the echocardiogram probe based on the selected saved view.107. The non-transitory machine-readable medium of any of examples 91-106, wherein the output US image is one of a two-dimensional (2D) US image or a 3D US image.108. The non-transitory machine-readable medium of any of examples 91-107, wherein the tracker is an electromagnetic (EM) tracker.109. An ultrasound (US) system for imaging a region of interest, the system comprising: a US probe comprising a US transducer configured to obtain US data for the region of interest; an electromagnetic (EM) tracker configured to sense a position-dependent property of an EM field and to output sensor data that indicates the position-dependent property, wherein the EM tracker is integrated with or temporarily secured to the US probe at a known relative position and a known relative orientation to a fixed point of the US probe; a tracking system that determines, based on the sensor data output by the EM tracker, tracking data indicating a position of the US probe relative to the region of interest and an orientation of the US probe relative to the region of interest; a memory for storing machine-readable instructions; and a processor core for accessing the machine-readable instructions and executing the machine-readable instructions as operations, the operations comprising: receiving the US data for the region of interest from the US probe; receiving the tracking data; constructing a three-dimensional (3D) model of the region of interest based on the US data, wherein the 3D model tracks the position of the US probe relative to the region of interest and the orientation of the US probe relative to the region of interest based on the tracking data; determining a selected sweep angle for the US probe; anddisplaying an output image of a portion of the region of interest based on the 3D model, the position of the US probe relative to the region of interest, the orientation of the US probe relative to the region of interest, and the selected sweep angle.110. The US system of example 109, further comprising an instrument that comprises an instrument tracker, wherein the tracking system determines, based on the instrument tracker, additional tracking data indicating a position of the instrument relative to the region of interest and an orientation of the instrument relative to the region of interest, wherein the operations further comprise receiving the additional tracking data, and wherein the 3D model tracks the position of the instrument relative to the region of interest and the orientation of the instrument relative to the region of interest.111. The US system of example 110, wherein determining the selected sweep angle comprises automatically adjusting the selected sweep angle in response to a change in the position of the instrument or the orientation of the instrument.112. The US system of any of examples 110-111, wherein displaying the output US image comprise displaying an indicator in response to the orientation of the instrument being outside of a plane of the output US image or to the position of the instrument being outside of the plane of the output US image.113. The US system of any of examples 109-112, wherein the selected sweep angle is determined based on a first set of markers defined on the 3D model of the region of interest.114. The US system of any of examples 109-113, wherein the 3D model of the region of interest comprises a set of saved views and a first view of the set of saved views has an associated plane through the 3D model.115. The US system of example 114, wherein the operations further comprise adding a second view of the region of interest to the set of saved views, wherein the second view is based on the output US image.116. The US system of example 115, wherein the operations further comprise automatically defining a second set of markers on the 3D model of the region of interest, based on analysis of the output US image.117. The US system of any of examples 114-116, wherein the operations further comprise adding a third view of the region of interest to the set of saved views, wherein the third view is based on a plane defined by three selected markers defined on the 3D model of the region of interest.118. The US system of any of examples 114-117, wherein displaying the output US image further comprises displaying a representation of a fourth view of a set of saved views relative to the output US image, wherein the fourth view has an associated plane that is not co-planar with an associated plane of the output US image.119. The US system of any of examples 114-118, wherein the first view of the set of views comprises a set of saved US parameters associated with the first view.120. The US system of any of examples 109-119, wherein displaying the output US image comprises automatically moving the US probe based on a selected saved view of the set of saved views.121. The US system of example 120, wherein the operations further comprise generating an alert based on a potential collision of the US probe.122. The US system of any of examples 113-121, wherein the operations further comprise generating an alert that comprises user guidance associated with aligning the US probe with a selected saved view of the set of saved views.123. The US system of any of examples 109-122, wherein the operations further comprise preventing movement of the US probe in a given direction based on a potential collision of the US probe.124. The US system of any of examples 109-123, wherein displaying the output US image comprises automatically adjusting a current sweep angle of the US probe based on the selected saved view.125. The US system of any of examples 109-124, wherein the output US image is one of a two-dimensional (2D) US image or a 3D US image.126. The US system of any of examples 109-125, further comprising a sheath temporarily secured around a portion of the US probe, wherein the sheath comprises: a set of EM trackers that comprises the EM tracker; and an outer jacket that encloses the set of EM trackers and secures the sheath around the portion of the US probe.127. The US system of example 126, wherein the EM tracker is configured to output the sensor data via a wired connection, and wherein the outer jacket encloses the wired connection.128. The US system of any of examples 126-127, wherein the sheath further comprises a slit along the length of the sheath, wherein the sheath is configured to open at the slit to enclose the portion of the US probe.129. The US system of any of examples 126-128, wherein a position of the sheath relative to the US probe and a rotation of the sheath relative to the US probe are fixed.130. The US system of example 129, wherein the sheath further comprises a set of features that fix the position of the sheath relative to the US probe and the rotation of the sheath relative to the US probe via frictional forces.131. The US system of example 130, wherein the set of features comprises a mechanical feature.132. The US system of example 131, wherein the mechanical feature is configured to align with a strain relief of the US probe.133. The US system of any of examples 129-132, wherein the sheath is configured to align with a probe head of the US probe to fix the rotation of the sheath relative to the US probe.134. The US system of any of examples 109-125, further comprising a patch system temporarily secured to a portion of the US probe, wherein the patch system comprises: a set of EM trackers that comprises the EM tracker; and a layered patch having an atraumatic first surface and an adhesive second surface opposite the first surface, wherein the second surface secures the EM tracker to the portion of the US probe.135. The US system of example 134, wherein the EM tracker is configured to output the sensor data via a wired connection, and wherein the second surface secures at least a portion of the wired connection to the probe head.136. The US system of any of examples 134-135, wherein the layered patch comprises an extended area that extends in a pair of opposed directions around the EM tracker.137. The US system of example 136, wherein the extended area of the layered patch is thinner than a portion of the layered patch adjacent to the EM tracker.138. The US system of any of examples 136-137, wherein the extended area extends in a direction transverse to a long axis of the US probe.139. The US system of any of examples 136-138, wherein the extended area extends in a longitudinal direction along a long axis of the US probe.140. The US system of any of examples 134-139, wherein a probe head of the US probe comprises an imaging array face, and wherein the patch system is secured to one or more faces of the probe head other than the imaging array face.141. The US system of any of examples 134-139, wherein the patch system is secured to the US probe proximal to a probe head of the US probe.142. The US system of any of examples 134-139, wherein the patch system is secured to a strain relief of the US probe.143. The US system of any of examples 134-139, wherein the patch system is secured to a shaft of the US probe.144. The US system of any of examples 109-143, wherein the EM tracker comprises one of a coil-based sensor or a solid-state sensor.145. The US system of any of examples 109-144, wherein the EM tracker is calibrated based on the known relative position and the known relative orientation to the fixed point of the US probe.146. The US system of any of examples 109-145, wherein the US probe is a transesophageal echocardiogram (TEE) probe.147. An ultrasound (US) system for imaging a region of interest, the system comprising: an echocardiogram probe comprising a US transducer configured to obtain US data for the region of interest; an electromagnetic (EM) tracker configured to sense a position-dependent property of an EM field and to output sensor data that indicates the position-dependent property, wherein the EM tracker is integrated with or temporarily secured to the echocardiogram probe at a known relative position and a known relative orientation to a fixed point of the echocardiogram probe; a tracking system that determines, based on the sensor data output by the EM tracker, tracking data indicating a position of the echocardiogram probe relative to theregion of interest and an orientation of the echocardiogram probe relative to the region of interest; a memory for storing machine-readable instructions; and a processor core for accessing the machine-readable instructions and executing the machine-readable instructions as operations, the operations comprising: receiving the US data for the region of interest from the echocardiogram probe; receiving the tracking data; constructing a three-dimensional (3D) model of the region of interest based on the US data, wherein the 3D model tracks the position of the echocardiogram probe relative to the region of interest and the orientation of the echocardiogram probe relative to the region of interest based on the tracking data; determining a selected sweep angle for the echocardiogram probe; and displaying an output ultrasound image of a portion of the region of interest based on the 3D model, the position of the echocardiogram probe relative to the region of interest, the orientation of the echocardiogram probe relative to the region of interest, and the selected sweep angle.148. The US system of example 147, further comprising a transcatheter device that comprises a transcatheter device tracker, wherein the tracking system determines, based on the transcatheter device tracker, additional tracking data indicating a position of the transcatheter device relative to the region of interest and an orientation of the transcatheter device relative to the region of interest, wherein the operations further comprise receiving the additional tracking data, and wherein the 3D model tracks the position of the transcatheter device relative to the region of interest and the orientation of the transcatheter device relative to the region of interest.149. The US system of example 148, wherein determining the selected sweep angle comprises automatically adjusting the selected sweep angle in response to a change in the position of the transcatheter device or the orientation of the transcatheter device.150. The US system of any of examples 148-149, wherein displaying the output US image comprise displaying an indicator in response to the orientation of the transcatheterdevice being outside of a plane of the output US image or to the position of the transcatheter device being outside of the plane of the output US image.151. The US system of any of examples 147-150, wherein the selected sweep angle is determined based on a first set of markers defined on the 3D model of the region of interest.152. The US system of any of examples 147-151, wherein the 3D model of the region of interest comprises a set of saved views and a first view of the set of saved views has an associated plane through the 3D model.153. The US system of example 152, wherein the operations further comprise adding a second view of the region of interest to the set of saved views, wherein the second view is based on the output US image.154. The US system of example 153, wherein the operations further comprise automatically defining a second set of markers on the 3D model of the region of interest, based on analysis of the output US image.155. The US system of any of examples 152-154, wherein the operations further comprise adding a third view of the region of interest to the set of saved views, wherein the third view is based on a plane defined by three selected markers defined on the 3D model of the region of interest.156. The US system of any of examples 152-155, wherein displaying the output US image further comprises displaying a representation of a fourth view of a set of saved views relative to the output US image, wherein the fourth view has an associated plane that is not co-planar with an associated plane of the output US image.157. The US system of any of examples 152-155, wherein the first view of the set of views comprises a set of saved US parameters associated with the first view.158. The US system of any of examples 147-157, wherein displaying the output US image comprises automatically moving the echocardiogram probe based on a selected saved view of the set of saved views.159. The US system of example 158, wherein the operations further comprise generating an alert based on a potential collision of the echocardiogram probe.160. The US system of any of examples 151-159, wherein the operations further comprise generating an alert that comprises user guidance associated with aligning the echocardiogram probe with a selected saved view of the set of saved views.161. The US system of any of examples 147-160, wherein the operations further comprise preventing movement of the echocardiogram probe in a given direction based on a potential collision of the echocardiogram probe.162. The US system of any of examples 147-161, wherein displaying the output US image comprises automatically adjusting a current sweep angle of the echocardiogram probe based on the selected saved view.163. The US system of any of examples 147-162, wherein the output US image is one of a two-dimensional (2D) US image or a 3D US image.164. The US system of any of examples 147-163, further comprising a sheath temporarily secured around a portion of the echocardiogram probe, wherein the sheath comprises: a set of EM trackers that comprises the EM tracker; and an outer jacket that encloses the set of EM trackers and secures the sheath around the portion of the echocardiogram probe.165. The US system of example 164, wherein the EM tracker is configured to output the sensor data via a wired connection, and wherein the outer jacket encloses the wired connection.166. The US system of any of examples 164-165, wherein the sheath further comprises a slit along the length of the sheath, wherein the sheath is configured to open at the slit to enclose the portion of the echocardiogram probe.167. The US system of any of examples 164-166, wherein a position of the sheath relative to the echocardiogram probe and a rotation of the sheath relative to the echocardiogram probe are fixed.168. The US system of example 167, wherein the sheath further comprises a set of features that fix the position of the sheath relative to the echocardiogram probe and the rotation of the sheath relative to the echocardiogram probe via frictional forces.169. The US system of example 168, wherein the set of features comprises a mechanical feature.170. The US system of example 169, wherein the mechanical feature is configured to align with a strain relief of the echocardiogram probe.171. The US system of any of examples 167-170, wherein the sheath is configured to align with a probe head of the echocardiogram probe to fix the rotation of the sheath relative to the echocardiogram probe.172. The US system of any of examples 147-163, further comprising a patch system temporarily secured to a portion of the echocardiogram probe, wherein the removable EM tracker system comprises: a set of EM trackers that comprises the EM tracker; and a layered patch having an atraumatic first surface and an adhesive second surface opposite the first surface, wherein the second surface secures the EM tracker to the probe head.173. The US system of example 172, wherein the EM tracker is configured to output the sensor data via a wired connection, and wherein the second surface secures at least a portion of the wired connection to the probe head.174. The US system of any of examples 172-173, wherein the layered patch comprises an extended area that extends in a pair of opposed directions around the EM tracker.175. The US system of example 174, wherein the extended area of the layered patch is thinner than a portion of the layered patch adjacent to the EM tracker.176. The US system of any of examples 174-175, wherein the extended area extends in a direction transverse to a long axis of the echocardiogram probe.177. The US system of any of examples 174-176, wherein the extended area extends in a longitudinal direction along a long axis of the echocardiogram probe.178. The US system of any of examples 172-175, wherein a probe head of the echocardiogram probe comprises an imaging array face, and wherein the patch system is secured to one or more faces of the probe head other than the imaging array face.179. The US system of any of examples 172-177, wherein the patch system is secured to the echocardiogram probe proximal to a probe head of the echocardiogram probe.180. The US system of any of examples 172-177, wherein the patch system is secured to a strain relief of the echocardiogram probe.181. The US system of any of examples 172-177, wherein the patch system is secured to a shaft of the echocardiogram probe.182. The US system of any of examples 147-181, wherein the EM tracker comprises one of a coil-based sensor or a solid-state sensor.183. The US system of any of examples 147-182, wherein the EM tracker is calibrated based on the known relative position and the known relative orientation to the fixed point of the echocardiogram probe.184. The US system of any of examples 147-183, wherein the echocardiogram probe is a transesophageal echocardiogram (TEE) probe.185. A sheath for an ultrasound (US) probe, comprising: a set of EM trackers comprising an EM tracker configured to sense a positiondependent property of an EM field and to output tracking data indicating the sensed position-dependent property of the EM field; and an outer jacket that encloses the set of EM trackers, wherein the outer jacket is configured to secure the sheath around a portion of the US probe.186. The sheath of example 185, wherein the EM tracker is configured to output the sensor data via a wired connection, and wherein the outer jacket encloses the wired connection.187. The sheath of any of examples 185-186, further comprising a slit along the length of the sheath, wherein the sheath is configured to open at the slit to enclose the portion of the US probe.188. The sheath of any of examples 185-187, further comprising a set of features configured to fix a position of the sheath relative to the US probe and a rotation of the sheath relative to the US probe.189. The sheath of example 188, wherein the set of features comprises a feature configured to fix the position of the sheath relative to the US probe and the rotation of the sheath relative to the US probe via frictional forces.190. The sheath of example 189, wherein the feature is a mechanical feature.191. The sheath of example 190, wherein the mechanical feature is configured to align with a strain relief of the US probe.192. The sheath of any of examples 188-191, wherein the sheath is configured to align with a probe head of the US probe probe to fix the rotation of the sheath relative to the US probe.193. The sheath of any of examples 185-192, wherein the EM tracker comprises one of a coil-based sensor or a solid-state sensor.194. The sheath of any of examples 185-193, wherein the EM tracker is configured to be calibrated based on the known relative position and the known relative orientation to a fixed point of the US probe.195. The sheath of any of examples 185-194, wherein the US probe is a transesophageal echocardiogram (TEE) probe.196. A patch system for an ultrasound (US) probe, comprising: a set of EM trackers comprising an EM tracker configured to sense a positiondependent property of an EM field and to output tracking data indicating the sensed position-dependent property of the EM field; and a layered patch having an atraumatic first surface and an adhesive second surface opposite the first surface, wherein the second surface is configured to secure the EM tracker to a portion of the US probe.197. The patch system of example 196, wherein the EM tracker is configured to output the sensor data via a wired connection, and wherein the second surface secures at least a portion of the wired connection to the probe head.198. The patch system of any of examples 196-197, wherein the layered patch comprises an extended area that extends in a pair of opposed directions around the EM tracker.199. The patch system of example 198, wherein the extended area of the layered patch is thinner than a portion of the layered patch adjacent to the EM tracker.200. The patch system of any of examples 198-199, wherein the patch system is configured to be secured to the US probe such that the extended area extends in a direction transverse to a long axis of the US probe.201. The patch system of any of examples 198-200, wherein the patch system is configured to be secured to the US probe such that the extended area extends in a longitudinal direction along a long axis of the US probe.202. The patch system of any of examples 196-201, wherein the patch system is configured to be secured to one or more faces of a probe head of the US probe other than an imaging array face of the probe head.203. The patch system of any of examples 196-202, wherein the patch system is secured to the US probe proximal to a probe head of the US probe.204. The patch system of any of examples 196-202, wherein the patch system is secured to a strain relief of the US probe.205. The patch system of any of examples 196-202, wherein the patch system is secured to a shaft of the US probe.206. The patch system of any of examples 196-205, wherein the EM tracker comprises one of a coil-based sensor or a solid-state sensor.207. The patch system of any of examples 196-206, wherein the EM tracker is configured to be calibrated based on a known relative position and a known relative orientation to a fixed point of the US probe.208. The patch system of any of examples 196-207, wherein the US probe is a transesophageal echocardiogram (TEE) probe.209. A method of calibrating an electromagnetic (EM) tracker, comprising: attaching a removable EM tracker system comprising the EM tracker to an ultrasound (US) probe, wherein the EM tracker is configured to sense a positiondependent property of an EM field; selecting a model of the US probe via a calibration system, wherein the calibration system comprises an EM emitter configured to generate the EM field; pairing the EM tracker and a calibration tool with the calibration system; placing a probe head of the US probe in the calibration tool; and calibrating a position of the EM tracker relative to a fixed point of the probe head and an orientation of the EM tracker relative to the fixed point of the probe head.210. The method of example 209, wherein attaching the removable EM tracker system to the US probe comprises: attaching an alignment tool to the probe head, wherein the alignment tool facilitates placement of the removable EM tracker system at a specific location on the US probe; andattaching the removable EM tracker system to the US probe at the specific location.211. The method of example 210, wherein the alignment tool is configured to securely attach to US probes of the model of the US probe.212. The method of any of examples 209-211, wherein the alignment tool forms at least a portion of a packaging of the removable EM tracker system.213. The method of any of examples 209-212, wherein the calibration tool is configured to align with US probes of the model of the US probe.214. The method of any of examples 209-214, wherein the calibration tool comprises the alignment tool.215. The method of any of examples 206-214, wherein the calibration tool is at a known position relative to the EM emitter.216. The method of example 215, wherein the known position of the calibration tool relative to the EM emitter is detected via an EM tracker within the calibration tool.217. The method of example 215, wherein the known position is a first known position, and wherein, when the probe head is placed in the calibration tool, the fixed point of the probe head is at a second known position relative to the EM emitter.218. The method of example 217, wherein calibrating the position of the EM tracker relative to the fixed point of the probe head and the orientation of the EM tracker relative to the fixed point of the probe head comprises: determining a position of the EM tracker relative to the EM emitter based on the position-dependent property sensed by the EM tracker; and calculating the position of the EM tracker relative to the fixed point of the probe head and the orientation of the EM tracker relative to the fixed point of the probe head based on the second known position and the position of the EM tracker relative to the EM emitter.219. The method of any of examples 209-218, wherein calibrating the position of the EM tracker relative to the fixed point of the probe head and the orientation of the EM tracker relative to the fixed point of the probe head comprises updating a baseline calibration of the EM tracker.220. The method of any of examples 209-219, wherein the calibration system comprises a Faraday cage and placing the probe head in the calibration tool comprises placing the probe head in the calibration tool within the Faraday cage.

Claims

1. WHAT IS CLAIMED IS:

1. A user interface system for imaging a region of interest, the system comprising: a memory for storing machine-readable instructions; and a processor core for accessing the machine-readable instructions and executing the machine-readable instructions as operations, the operations comprising: receiving ultrasound (US) data for the region of interest from a US probe; receiving tracking data indicating a position of the US probe relative to the region of interest and an orientation of the US probe relative to the region of interest; constructing a three-dimensional (3D) model of the region of interest based on the US data, wherein the 3D model tracks the position of the US probe relative to the region of interest and the orientation of the US probe relative to the region of interest based on the tracking data; determining a selected sweep angle for the US probe; and displaying an output US image of a portion of the region of interest based on the 3D model, the position of the US probe relative to the region of interest, the orientation of the US probe relative to the region of interest, and the selected sweep angle.

2. The user interface system of claim 1, wherein the operations further comprise receiving additional tracking data indicating a position of an instrument relative to the region of interest and an orientation of the instrument relative to the region of interest, wherein the 3D model tracks the position of the instrument relative to the region of interest and the orientation of the instrument relative to the region of interest.

3. The user interface system of claim 2, wherein determining the selected sweep angle comprises automatically adjusting the selected sweep angle in response to a change in the position of the instrument or the orientation of the instrument.

4. The user interface system of any of claims 2-3, wherein displaying the output US image comprise displaying an indicator in response to the orientation of the instrument being outside of a plane of the output US image or to the position of the instrument being outside of the plane of the output US image.

5. The user interface system of any of claims 1-4, wherein the selected sweep angle is determined based on a first set of markers defined on the 3D model of the region of interest.

6. The user interface system of any of claims 1-5, wherein the 3D model of the region of interest comprises a set of saved views and a first view of the set of saved views has an associated plane through the 3D model.

7. The user interface system of claim 6, wherein the operations further comprise adding a second view of the region of interest to the set of saved views, wherein the second view is based on the output US image.

8. The user interface system of claim 7, wherein the operations further comprise automatically defining a second set of markers on the 3D model of the region of interest, based on analysis of the output US image.

9. The user interface system of any of claims 6-8, wherein the operations further comprise adding a third view of the region of interest to the set of saved views, wherein the third view is based on a plane defined by three selected markers defined on the 3D model of the region of interest.

10. The user interface system of any of claims 6-9, wherein displaying the output US image further comprises displaying a representation of a fourth view of a set of saved views relative to the output US image, wherein the fourth view has an associated plane that is not co-planar with an associated plane of the output US image.

11. The user interface system of any of claims 6- 10, wherein the first view of the set of views comprises a set of saved US parameters associated with the first view.

12. The user interface system of any of claims 1-11, wherein the tracking data is received from an electromagnetic (EM) tracker temporarily secured to the US probe at a known relative position and a known relative orientation to a fixed point of the US probe.

13. A method for providing imaging data of a region of interest, comprising: receiving ultrasound (US) data for the region of interest from a US probe; receiving tracking data indicating a position of the US probe relative to the region of interest and an orientation of the US probe relative to the region of interest; constructing a three-dimensional (3D) model of the region of interest based on the US data, wherein the 3D model tracks the position of the US probe relative to the region of interest and the orientation of the US probe relative to the region of interest based on the tracking data; determining a selected sweep angle for the US probe; and displaying an output US image of a portion of the region of interest based on the 3D model, the position of the US probe relative to the region of interest, the orientation of the US probe relative to the region of interest, and the selected sweep angle.

14. The method of claim 13, further comprising: receiving additional tracking data indicating a position of an instrument relative to the region of interest and an orientation of the instrument relative to the region of interest, wherein the 3D model tracks the position of the instrument relative to the region of interest and the orientation of the instrument relative to the region of interest.

15. The method of any of claims 13-14, wherein the tracking data is received from an electromagnetic (EM) tracker temporarily secured to the US probe at a known relative position and a known relative orientation to a fixed point of the US probe.

Images