Systems and methods for robotic control of an ultrasound probe

Abstract

A robotic transesophageal echocardiography (TEE) system includes a robotically controlled carriage configured for movement with and / or relative to a robot support arm. The robotically controlled carriage has a recess configured to receive a control knob of a TEE probe assembly. The carriage can have a lid configured to be positioned over the base to secure or to enclose the standard TEE probe handle within the space partly enclosed by the base. Knob interfaces can enable the knobs of the standard TEE probe assembly to be driven by the robotic system in the carriage. The carriage can have a plurality of panels and a plurality of access points between the panels. One or more position sensor in the carriage can provide knob position information for enhanced robotic control of the TEE probe assembly. The carriage can include a magnetic latch to releasably secure a handle of the TEE probe assembly in the space.

Description

LAZA.050WO PATENT SYSTEMS AND METHODS FOR ROBOTIC CONTROL OF AN ULTRASOUND PROBEINCORPORATION BY REFERENCE TO A Y PRIORITY APPLICATIONS

[0001] This application claims priority benefit of U. S. Provisional Application No.63 / 733,980 filed December 13, 2024, U. S. Provisional Application No. 63 / 733,989 filed December 13, 2024, and U. S. Provisional Application No. 63 / 742,748 filed January 7, 2025, which are hereby incorporated by reference in their entireties herein.BACKGROUNDField

[0002] The disclosure relates to robotic control of a catheter or probe, such as a probe for medical imaging and modeling.Description of the Related Art

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

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

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

[0006] In some embodiments, a robotic transesophageal echocardiography (TEE) system includes: a carriage including a first body portion and a second body portion, the first body portion pivotably coupled to the second body portion to provide an access path to a handle interface disposed within a space at least partially bounded by the first body portion and the second body portion, the handle interface configured to engage a handle of a TEE probe assembly, the first body portion and the second body portion configured to be positioned together to close the access path; a first latch component coupled to the first body portion and moveable therewith; and a second latch component pivotably coupled with the first body portion and moveable relative to the first body portion between a first position for constraining a motion of the handle and a second position for allowing disengagement of the handle from the handle interface; wherein the second latch component is movable from the first position to the second position thereof when the first body portion and the second body portion are positioned together.

[0007] In some embodiments, the carriage includes a clam-shell configuration in which the first body portion and the second body portion are hingedly coupled at a first longitudinal edge and are configured to connect along a second longitudinal edge opposite to the first longitudinal edge.

[0008] In some embodiments, the clam-shell configuration includes an open distal end and an open proximal end, the open distal end configured to provide clearance for a catheter of the TEE probe assembly or a portion of the handle of the for TEE probe assembly adjacent to the catheter, the open proximal end configured to provide clearance for a power and control wire of the TEE probe assembly or a portion of the handle of the TEE probe assembly adjacent to the power and control wire.

[0009] In some embodiments, at least one of the open proximal end and the open distal end includes an oblong periphery allowing the handle of the TEE probe assembly to be removed from the handle interface when the first body portion and the second body portion are positioned together.

[0010] In some embodiments, a long axis of the oblong periphery is oriented transverse to a location where the first body portion and the second body portion engage when the first body portion and the second body portion are positioned together to close the access path.

[0011] In some embodiments, the first latch component includes an elongate body coupled to the first body portion and extending along the handle interface proximal and distal of a knob recess.

[0012] In some embodiments, the second latch component includes a first portion pivotably coupled to the first body portion at a first edge and a second portion including a handle contact surface configured to engage at least a portion of a surface of the handle of the TEE probe assembly opposite to a control knob thereof.

[0013] In some embodiments, a disengageable connector is provided between the first latch component and the second latch component to hold the second latch component to the first latch component when in the first position,

[0014] In some embodiments, the disengageable connector includes a magnet disposed adjacent to an interface between the first latch component and the second latch component.

[0015] In some embodiments, the disengageable connector includes a plurality of magnets, at least one magnet located proximal to the knob recess and at least one magnet located distal to the knob recess.

[0016] In some embodiments, a robotic transesophageal echocardiography (TEE) system includes: a robotically controlled receptacle including a handle interface configured to engage a handle of a TEE probe assembly; a first latch component coupled to the robotically controlled receptacle and moveable therewith; a second latch component moveable relative to first latch component between a first position for constraining a motion of the handle and a second position for allowing disengagement of the handle from the handle interface; and a magnetic coupler configured to magnetically hold the second latch component in the first position.

[0017] In some embodiments, the first latch component includes an elongate body extending along the handle interface proximal and distal of a knob recess.

[0018] In some embodiments, the second latch component includes a first portion pivotably coupled to the robotically controlled receptacle at a first edge and a second portion including a handle contact portion configured to engage at least a portion of a surface of the handle of the TEE probe assembly opposite to a control knob thereof.

[0019] In some embodiments, the magnetic coupler includes a magnet disposed adjacent to an interface between the first latch component and the second latch component.

[0020] In some embodiments, the magnetic coupler includes a plurality of magnets, at least one magnet located proximal to a knob recess of the TEE probe assembly and at least one magnet located distal to the knob recess.

[0021] In some embodiments, the first latch component and the second latch component extend from a same side of the robotically controlled receptacle along the handle interface.

[0022] In some embodiments, a method includes: separating a first body portion from a second body portion of a carriage; advancing a handle of a TEE probe assembly along an access path defined between the first body portion and the second body portion; engaging the handle with a handle interface disposed between the first body portion and the second body portion, such that a knob of the TEE probe assembly is disposed in a knob recess of the carriage; providing relative movement between the second body portion and the first body portion to restrict or to close the access path; engaging a latch component with a surface of the handle opposite to the knob; and disengaging the latch component from the surface of the handle while the access path is restricted or closed.

[0023] In some embodiments, providing relative movement between the second body portion and the first body portion together includes pivoting the first body portion relative to the second body portion, wherein pivoting the first body portion includes simultaneously pivoting a first latch component and a second latch component to engage a handle contact portion of the second latch component with a surface of the handle opposite to the knob.

[0024] In some embodiments, engaging the latch component includes providing magnetic attraction from the latch component toward the handle of the TEE probe assembly.

[0025] In some embodiments, the method further includes at least partially retracting the knob of the TEE probe assembly from the knob recess of the carriage withoutmoving the second body portion and the first body portion away from each other to open the access path.

[0026] In some embodiments, a robotic transesophageal echocardiography (TEE) system includes: a TEE probe assembly including a handle coupled to a proximal end of a catheter, the handle including a control knob including an outer periphery configured to be manually rotated to control a probe tip of the catheter to flex the probe tip relative to anatomy of a patient: a support arm; a robotically controlled receptacle configured for movement about and / or along the support arm, the robotically controlled receptacle including a knob interface configured to engage the outer periphery of the control knob and a knob motor configured to cause a torque to be applied to the control knob through the knob interface; and one or more hardware processors configured to: receive a signal related to a position of the control knob; register an initial position of the control knob upon insertion of the control knob into the knob interface; and output a signal to the knob motor to cause a selected amount of rotation of the control knob relative to the initial position to change a flexion of the probe tip in a first direction.

[0027] In some embodiments, the control knob is a first control knob and the handle further including a second control knob, the knob interface is a first knob interface and the robotically controlled receptacle includes a second knob interface, the knob motor is a first knob motor and further including a second knob motor, the one or more hardware processors is configured to: receive a second control knob signal related to a position of the second control knob; register an initial position of the second control knob upon insertion of the second control knob into the second knob interface; and output a second knob motor signal to the second knob motor to cause a selected amount of rotation of the second control knob relative to the initial position of the second control knob to change a flexion of the probe tip in a second direction.

[0028] In some embodiments, the one or more hardware processors is configured to: receive a signal related to a linear position of the robotically controlled receptacle along the support arm; register an initial linear position of the robotically controlled receptacle; output a signal to cause a selected amount of linear motion of the robotically controlled receptacle relative to the initial linear position along the support arm; receive a signal related to a rotational position of the robotically controlled receptacle about a rotational axis; register an initial rotational position of the robotically controlled receptacle about the rotational axis; andoutput a signal to cause a selected amount of rotation of the robotically controlled receptacle about the rotational axis.

[0029] In some embodiments, the one or more hardware processors is configured to receive a signal related to linear motion of the robotically controlled receptacle and to thereafter permit or cause a reduction in flexion of the probe tip of the catheter.

[0030] In some embodiments, the signal related to linear motion includes a proximal movement signal, the one or more hardware processors configured to decrease or eliminate application of a torque to the knob to permit the reduction in flexion of the probe tip of the catheter.

[0031] In some embodiments, the signal related to linear motion includes a distal movement signal, the one or more hardware processors configured to cause the knob motor to apply a torque to the knob interface to cause a reduction in flexion of the probe tip of the catheter.

[0032] In some embodiments, the signal related to linear motion includes a distal movement signal, the one or more hardware processors configured to cause a displacement of the probe tip of the catheter to reduce the flexion of the probe tip.

[0033] In some embodiments, the TEE probe assembly includes a pose lock configured to maintain a rotational position of the control knob to maintain a current pose of the probe tip, the robotically controlled receptacle includes a pose lock interface configured to prevent engagement of the pose lock.

[0034] In some embodiments, the robotically controlled receptacle further includes a probe handle interface including a recess within which the knob interface is positioned, the recess configured to receive the control knob upon insertion of the control knob into the knob interface.

[0035] In some embodiments, the probe handle interface is configured to constrain axial movement of the handle relative to the robotically controlled receptacle.

[0036] In some embodiments, the probe handle interface is configured to constrain rotational movement of the handle relative to the robotically controlled receptacle.

[0037] In some embodiments, the robotically controlled receptacle includes a retainer configured to hold the handle in the robotically controlled receptacle such that theknob interface of the robotically controlled receptacle remains engaged with the control knob of the TEE probe assembly.

[0038] In some embodiments, the robotic TEE system further includes a locating feature disposed on the robotically controlled receptacle configured to mechanically rotate the control knob to a predefined orientation upon insertion of the control knob into the knob interface.

[0039] In some embodiments, the locating feature includes a wedge configured to be slidably received in a concavity on the outer periphery of the control knob.

[0040] In some embodiments, a contour of an inner periphery of the knob interface is a negative of at least a portion of a contour of the outer periphery of the control knob,

[0041] In some embodiments, the robotic TEE system further includes a noncontact sensor configured to generate the signal related to the position of the control knob.

[0042] In some embodiments, the non-contact sensor includes a reflective optical sensor.

[0043] In some embodiments, the non-contact sensor includes a camera.

[0044] In some embodiments, the robotic TEE system further includes a sensor configured to generate the signal related to the position of the control knob prior to insertion of the control knob into the knob interface.

[0045] In some embodiments, the one or more hardware processors is configured to engage the knob motor to rotate the knob interface to align a drive feature thereof with a driven feature of the control knob prior to insertion of the control knob into the knob interface.

[0046] In some embodiments, the robotic TEE system further includes a plurality of rotational position markers disposed on the knob interface and a camera oriented to view at least one of the plurality of rotational position markers, the one or more hardware processors is configured to: receive an image from the camera including the at least one of the plurality of rotational position markers; and output a signal indicating an absolute rotational position of the knob interface corresponding to the at least one of the plurality of rotational position markers included in the image.

[0047] In some embodiments, the robotic TEE system further includes a contact sensor configured to generate the signal related to the position of the control knob upon insertion into the knob interface.

[0048] In some embodiments, the contact sensor includes a spring loaded contact element configured to engage the outer periphery of the control knob.

[0049] In some embodiments, the contact sensor includes a force sensitive resistor configured to engage the outer periphery of the control knob.

[0050] In some embodiments, a method of controlling a robotic transesophageal echocardiography (TEE) system having a support arm and a robotically controlled receptacle supported on the support arm includes: positioning a handle of a TEE probe assembly such that a control knob of the TEE probe assembly is disposed over a knob interface of the robotically controlled receptacle; receiving a position signal related to a position of the control knob; registering an initial position of the control knob following insertion of the control knob into the knob interface; and outputting a control signal to cause a selected amount of rotation of the control knob relative to the initial position.

[0051] In some embodiments, the control knob is a first control knob, and the knob interface is a first knob interface, and further including a second control knob and a second knob interface, the method further including: receiving a second position signal related to a position of the second control knob; registering an initial position of the second control knob following insertion of the second control knob into the second knob interface; and outputting a second control signal to cause a selected amount of rotation of the second control knob relative to the initial position of the second control knob.

[0052] In some embodiments, the method further includes engaging a pose lock interface with a pose lock of the control knob.

[0053] In some embodiments, the method further includes reducing or eliminating application of torque to the knob interface prior to allowing proximal linear motion of the robotically controlled receptacle relative to the support arm.

[0054] In some embodiments, the method further includes applying a torque to the knob interface to deflect a probe tip of the TEE probe assembly away from a flexed configuration.

[0055] In some embodiments, the method further includes advancing the control knob along a locating feature to cause rotation of the control knob to enhance alignment of a driven feature of the control knob with a drive feature of the knob interface upon engaging the control knob with the robotically controlled receptacle.

[0056] In some embodiments, the position signal is a non-contact position signal.

[0057] In some embodiments, the method further includes generating, with an ambient light sensor, the non-contact position signal.

[0058] In some embodiments, the ambient light sensor is coupled with the knob interface and the position signal is received as the knob interface is rotated relative to the control knob positioned adjacent thereto.

[0059] In some embodiments, the method further includes generating, with a camera, an image including the non-contact position signal.

[0060] In some embodiments, the image is taken from a position aligned with a longitudinal axis of the handle of the TEE probe assembly.

[0061] In some embodiments, the image is taken from a top side of the control knob.

[0062] In some embodiments, the image is taken from a position perpendicular to a longitudinal axis of the handle of the TEE probe assembly, the image captured on a mirror,

[0063] In some embodiments, the image is a first camera image and further including a second camera image, the first and second camera images taken from positions aligned with two of a plurality of driven features of the control knob.

[0064] In some embodiments, the method further includes receiving an image including at least one of a plurality of rotational position markers disposed on the knob interface and outputting a position signal indicating an absolute rotational position of the knob interface.

[0065] In some embodiments, the method further includes providing enhanced contrast on at least one driven feature disposed on an outer periphery of the control knob to enhance a position signal corresponding to a position of the at least one driven feature.

[0066] In some embodiments, the position signal is a contact position signal generated by physical contact between a sensor element contacting the control knob.

[0067] In some embodiments, a robotic transesophageal echocardiography (TEE) system includes: a TEE probe assembly configured for manual operation, the TEE probe assembly including a handle having a control dial, a catheter coupled with a first end of the handle, and a power and control wire coupled to a second end of the handle, the second end opposite to the first end; and a carriage configured to be rotatably coupled with a support armof the robotic TEE system, including: an open proximal end through which the second end of the handle or the power and control wire can extend; an open distal end through which the first end or the catheter can extend; a plurality of panels having longitudinal edges extending from a proximal end partly defining the open proximal end to a distal end partly defining the open distal end, each panel of the plurality of panels extending circumferentially about a space for receiving the handle of the TEE probe assembly; and a latch for securing any two panels of the plurality of panels and for opening an access location between the two panels when disengaged.

[0068] In some embodiments, the access location extends circumferentially between and extending along the longitudinal edges of two panels of the plurality of panels.

[0069] In some embodiments, the plurality of panels of the carriage includes four panels.

[0070] In some embodiments, the robotic TEE system further includes a plurality of latches, each latch connecting two panels of the four panels whereby an access location between two adjacent panels can be provided by each latch.

[0071] In some embodiments, the carriage is configured to rotate about an axis extending through the open proximal end and the open distal end.

[0072] In some embodiments, the robotic TEE system further includes a probe handle interface disposed in the space, the probe handle interface configured to engage the handle of the TEE probe assembly and to rotate about the axis extending through the open proximal end and the open distal end.

[0073] In some embodiments, when the handle of the TEE probe assembly is coupled with the probe handle interface, the handle is disposed on the axis.

[0074] In some embodiments, the probe handle interface includes a recess configured to receive the control dial of the TEE probe assembly when the handle is coupled with the probe handle interface.

[0075] In some embodiments, the latch is configured to open the access location on a lateral side of the probe handle interface when the probe handle interface is facing downwardly.

[0076] In some embodiments, the latch is configured to open the access location on a lateral side of the probe handle interface when the probe handle interface is facing upwardly.

[0077] In some embodiments, the latch is a first latch configured to open the access location on a lateral side of an axis of rotation of the carriage when the probe handle interface is facing upwardly and further including a second latch configured to open the access location on a same lateral side of the axis of rotation of the carriage when the probe handle interface is facing downwardly.

[0078] In some embodiments, the robotic TEE system further includes a third latch configured to open the access location between two adjacent panels above the probe handle interface when the probe handle interface is facing upwardly.

[0079] In some embodiments, the latch is configured to open the access location between two adjacent panels above the probe handle interface when the probe handle interface is facing upwardly.

[0080] In some embodiments, the latch includes a first pin and a second pin, the first pin extending between the open distal end and the open proximal end through a first panel to couple with a second panel, the first pin allowing pivoting of the first panel relative to the second panel, the second pin extending between the open distal end and the open proximal end through the first panel to couple with a third panel, the second pin allowing pivoting of the first panel relative to the third panel, the latch selectively retracting the first pin to permit the first panel to pivot about the second pm to open the access location between the first panel and the second panel, the latch selectively retracting the second pm to permit the first panel to pivot about the first pin to open the access location between the first panel and the third panel.

[0081] In some embodiments, the latch includes a third pin and a fourth pin, the third pm extending between the open distal end and the open proximal end through the first panel to couple to the second panel, the third pin locking the first panel to the second panel to prevent pivoting of the first panel relative to the second panel, the fourth pm extending between the open distal end and the open proximal end through the first panel to couple to the third panel, the fourth pin locking the first panel to the third panel to prevent pivoting of the first panel relative to the third panel, the latch selectively retracting the first pin, the third pin and the fourth pin to permit the first panel to pivot about the second pin to open the access location between the first panel and the second panel, the latch selectively retracting the second pin, the third pm and the fourth pm to permit the first panel to pivot about the first pin to open the access location between the first panel and the third panel.

[0082] In some embodiments, the latch includes a first actuator extending from the first panel, the first actuator configured to retract the first pin and the third pin to decouple the first pin and the third pin from the second panel and to retract the fourth pin to decouple the fourth pin from the third panel, the latch including a second actuator extending from the first panel, the second actuator configured to retract the second pm and the fourth pin to decouple the second pin and the fourth pin from the third panel and to retract the third pin to decouple the third pin from the second panel.

[0083] In some embodiments, an inner periphery of each panel of the plurality of panels includes driven feature configured to engage drive feature of a motor transmission, the drive feature driving the driven feature to rotate the carriage about an axis of rotation of the carriage.

[0084] In some embodiments, a robotic ultrasound system includes; a carriage including: an open proximal end through which a proximal handle portion or a power and control wire of an ultrasound probe can extend; an open distal end through which a distal handle portion or a catheter of the ultrasound probe can extend; a plurality of panels extending from a proximal end partly defining an open proximal end of the carriage to a distal end partly defining an open distal end of the carriage, each panel of the plurality of panels extending circumferentially about a space for receiving the handle portion of the ultrasound probe; a first latch for opening a first access location between a first adjacent set of two panels of the plurality of panels; and a second latch for opening a second access location between a second adjacent set of two panels of the plurality of panels; wherein a handle portion of an ultrasound probe can be removed from the space of carriage through the first access location or the second access location following rotational of the carriage to rotationally position the handle portion and the catheter.

[0085] In some embodiments, a carriage for robotic positioning of an ultrasound catheter includes a panel assembly including a plurality of panels and a probe handle interface supported within a spaced defined within the plurality of panels, each panel of the plurality of panels being disengageably engaged with an adjacent panel of the plurality of panels such that an access opening can be provided between any two panels of the plurality of panels.

[0086] In some embodiments, the carriage further includes a latch coupling three panels of the plurality of panels, the latch being disengageable in a first configuration from afirst panel of the three panels to allow to allow access between the first panel and a second panel of the three panels and being disengageable in a second configuration from a third panel of the three panels to allow to allow access between the second panel and the third panel.

[0087] In some embodiments, a method includes: providing a carriage panel assembly including a plurality of panels, the plurality of panels including at least a first panel and a second panel; moving one of the panels of the plurality of panels to open a setup access location between the first panel and the second panel; moving a TEE probe handle through the setup access location and into a space defined within the carriage panel assembly; engaging the TEE probe handle with a probe handle interface within the space defined within the carriage panel assembly; performing imaging of a patient while manipulating the TEE probe handle within the carriage panel assembly; and disengaging a latch between any two adjacent panels of the plurality of panels of the carriage panel assembly to open a removal access location between the two adjacent panels.

[0088] In some embodiments, the removal access location and the setup access location can be provided between the two adjacent panels.

[0089] In some embodiments, a robotic transesophageal echocardiography (TEE) system includes: a carriage including a base configured to releasably couple with at least a portion of a standard TEE probe handle; a dial interface configured to be mounted on a dial of the standard TEE probe handle; and a carriage transmission element coupled with the carriage to rotate the carriage about an axis aligned with a longitudinal axis of the standard TEE probe handle when the standard TEE probe handle is placed in the carriage; wherein the carriage is configured to manually receive the standard TEE probe handle to facilitate motorized control of manual dials of the standard TEE probe handle.

[0090] In some embodiments, the dial interface is a first dial interface and the dial is a first dial, and further including a second dial interface configured to engage a second dial of the standard TEE probe handle.

[0091] In some embodiments, the second dial interface includes a clamshell configuration to wrap around the second dial of the standard TEE probe handle.

[0092] In some embodiments, the second dial interface includes an external periphery including a groove configured to receive a dial transmission element of a motor coupled with the carriage.

[0093] In some embodiments, the base includes a recess configured to receive the dial interface.

[0094] In some embodiments, the dial interface includes an interior periphery' configured to engage an external periphery' of the dial of the standard TEE probe handle.

[0095] In some embodiments, the dial interface includes an external periphery' including a groove configured to receive a dial transmission element of a motor coupled with the carriage.

[0096] In some embodiments, the robotic transesophageal echocardiography (TEE) system further includes a motor and transmission assembly including a motor coupled with the carnage, the motor configured to output rotational motion to be transferred to the dial interface by a transmission of the motor and transmission assembly.

[0097] In some embodiments, the carriage transmission element includes a plurality of teeth disposed on at least one of the base and a lid configured to be positioned over the base to secure the standard TEE probe handle within a space disposed between the base and the lid.

[0098] In some embodiments, the carriage transmission element includes a first plurality of teeth disposed on a periphery of an end portion of the base and a second plurality of teeth disposed on a periphery of an end portion of the lid.

[0099] In some embodiments, the plurality of teeth are disposed in an annular pattern around an inward facing surface of a projection of the base and an inward facing surface of a projection of the lid.

[0100] In some embodiments, the base includes a locating feature configured to rotationally' align the dial or the dial interface to an initial operating position.

[0101] In some embodiments, the locating feature includes a wedge coupled with an opening into a recess of the base, the recess configured to receive dial when the standard TEE probe handle is coupled with the base.

[0102] In some embodiments, the base is configured such that the dial is insertable into the recess in a distal direction, the dial being entirely distal to the locating feature when fully inserted.

[0103] In some embodiments, the locating feature is a first locating feature and further including a second locating feature opposite the locating feature.

[0104] In some embodiments, the robotic transesophageal echocardiography (TEE) system further includes a cable retainer disposed on one or both ends of the carriage, the cable retainer allowing insertion of a cable or catheter portion at a first angle relative to a longitudinal axis of the carriage and to be retained through the cable retainer when aligned with the longitudinal axis of the carriage.

[0105] In some embodiments, the carriage transmission element includes a rack configured to be actuated by a drive element coupled with a motor to cause rotation movement of an arcuate guide coupled with the base,

[0106] In some embodiments, a method includes: providing a standard TEE probe assembly having an imaging element disposed at a distal portion and a handle disposed proximal of the distal portion and an el ectrical connector extending from a proximal portion of the handle, the handle having a dial configured to be rotated to adjust at least one degree of freedom of the distal portion of the TEE probe assembly; advancing a dial interface over the dial of the handle of the standard TEE probe assembly to engage an inner feature of the dial interface with an outer feature of the dial; engaging the dial interface with a transmission of a motor and transmission assembly; and applying a torque to the dial interface by operation of the motor and transmission assembly.

[0107] In some embodiments, advancing the dial interface includes moving the dial interface along a rotational axis of the dial until the dial interface is engaged with the dial.

[0108] In some embodiments, advancing the dial interface includes opening a periphery of the dial interface, moving the dial transverse to a rotational axis of the dial, and closing the periphery of the dial interface around the dial.

[0109] In some embodiments, the method further includes placing the handle of the standard TEE probe assembly in a carriage after advancing the dial interface over the dial.

[0110] In some embodiments, engaging the dial interface includes positioning a belt around the dial interface and engaging the belt with a motor of the motor and transmission assembly.

[0111] In some embodiments, the dial interface is a first dial interface, the dial is a first dial, and the motor and transmission assembly are a first motor and transmission assembly, and further including advancing a second dial interface over a second dial of the standard TEEprobe assembly and thereafter engaging the second dial interface with a second motor and transmission assembly.

[0112] In some embodiments, engaging the first motor and transmission assembly and the second motor and transmission assembly are mounted on a carriage.

[0113] In some embodiments, the method further includes moving the carriage to change position or orientation of the distal portion of the standard TEE probe assembly in a patient.

[0114] In some embodiments, the method further includes rotating the carriage to rotate the distal portion of the standard TEE probe assembly about a longitudinal axis of the distal portion.

[0115] In some embodiments, the method further includes advancing the dial over a locating feature to rotationally align a concave feature of the dial or of the dial interface to place the distal portion of the TEE probe assembly in a selected position.

[0116] In some embodiments, the locating feature includes a wedge fixed to a base, the dial advancing entirely past the wedge when the handle is fully placed into the carriage.

[0117] In some embodiments, the locating feature includes a wedge fixed to the base of the carriage and placing the handle of the standard TEE probe assembly in a carriage includes advancing the dial entirely past the wedge.

[0118] In some embodiments, a probe adapter kit includes; a first dial interface configured to be mounted on a first dial of a standard TEE probe handle by being advanced along a rotational axis of the first dial; and a second dial interface configured to be mounted on a second dial of the standard TEE probe handle by expanding an opening at a periphery of the second dial interface, advancing the second dial interface transverse to a rotational axis of the second dial, and closing the second dial interface around the second dial.

[0119] In some embodiments, a robotic transesophageal echocardiography (TEE) system includes a robotically controlled carriage or a robotically controlled receptacle configured for movement about and / or along a robot support arm, the robotically controlled carriage or the robotically controlled receptacle including a recess configured to receive a control knob of a TEE probe assembly.

[0120] In some embodiments, the robotically controlled carriage or the robotically controlled receptacle includes a plurality' of body portions and a probe handle interfaceincluding the recess supported within a space defined within the plurality of body portions, at least two body portions of the plurality of body portions being disengageably engaged such that an access opening can be provided between the at least two body portions.

[0121] In some embodiments, the robotic TEE system further includes a first latch component coupled to and moveable with a first body portion of the plurality of body portions and a second latch component moveable relative to the first latch component between a first position for constraining motion of a handle of a TEE probe assembly and a second position allowing disengagement of the control knob of the TEE probe assembly from the recess of the robotically controlled carriage or the robotically controlled receptacle.

[0122] In some embodiments, the robotic TEE system further includes a magnet coupled with at least one of the first latch component and the second latch component configured to retain the second latch component in the first position.

[0123] In some embodiments, the plurality of body portions include a first clamshell portion and a second clam-shell portion hinged to the first clam-shell portion at a first longitudinal edge, the second clam-shell portion configured to be detachably coupled to the first clam-shell portion at a second longitudinal edge, wherein the first latch component and the second latch component are disposed within or adjacent to the space and between the first longitudinal edge and the second longitudinal edge.

[0124] In some embodiments, a robotic TEE system wherein the space is sized to allow the first latch component to be in the first position or in the second position when the second clam-shell portion is coupled to the first clam-shell portion at the second longitudinal edge.

[0125] In some embodiments, the second latch component is pivotable relative to the first body portion about a common axis of rotation of the first body portion.

[0126] In some embodiments, the robotically controlled carriage or the robotically controlled receptacle includes a first open end and a second open end, at least one of the first open end and the second open end includes an elongate periphery allowing movement of a handle of a TEE probe assembly such that the control knob of the TEE probe assembly can be disengaged from the recess within which the control knob is disposed when the second latch component in the first position to secure the handle in the robotically controlled carriage or in the robotically controlled receptacle.

[0127] In some embodiments, the robotic TEE system further includes a magnetic latch configured to secure a handle of a TEE probe assembly in an engaged position in the carriage or in the receptacle.

[0128] In some embodiments, the space defined within the plurality of body portions is sized to allow the magnetic latch to disengage from the handle of the TEE probe assembly such that the control knob can be removed from the recess.

[0129] In some embodiments, the plurality of body portions includes a plurality of panels and further including a latch for securing any two panels of the plurality of panels and for opening an access location between the two panels when disengaged.

[0130] In some embodiments, the plurality of panels of the robotically controlled carriage or the robotically controlled receptacle includes three panels.

[0131] In some embodiments, the robotic TEE system further includes a plurality of latches, each latch connecting two panels of four panels whereby an access location between two adjacent panels can be provided by each latch.

[0132] In some embodiments, the robotic TEE system further includes a first latch for opening a first access location between a first adjacent set of two panels of the plurality of panels and a second latch for opening a second access location between a second adjacent set of two panels of the plurality of panels.

[0133] In some embodiments, the robotic TEE system further includes: a TEE probe assembly including a handle coupled to a proximal end of a catheter, the handle including a control knob including an outer periphery configured to be manually rotated to control a probe tip of the catheter to flex the probe tip relative to anatomy of a patient; a support arm; the robotically controlled carriage or the robotically controlled receptacle further including a knob interface configured to engage the outer periphery of the control knob and a knob motor configured to cause a torque to be applied to the control knob through the knob interface; and one or more hardware processors configured to: receive a signal related to a position of the control knob; register an initial position of the control knob upon insertion of the control knob into the knob interface; and output a signal to the knob motor to cause a selected amount of rotation of the control knob relative to the initial position to change a flexion of the probe tip in a first direction.

[0134] In some embodiments, the TEE probe assembly includes a standard TEE probe assembly and the carriage or the robotically controlled receptacle is configured to receive a standard probe handle of the standard TEE probe assembly to facilitate motorized control of the knob of the standard TEE probe assembly.

[0135] In some embodiments, the robotic TEE system further includes a knob interface configured to be mounted on the knob of the standard TEE probe assembly.

[0136] In some embodiments, a system includes the robotic TEE system and a TEE probe assembly configured for manual operation, the TEE probe assembly including a handle having a control knob, a catheter coupled with a first end of the handle, and a power and control wire coupled to a second end of the handle, the second end opposite to the first end, the TEE probe handle and / or the power and control wire configured to extend out of or away from one end of the robotically controlled carriage or the robotically controlled receptacle and the TEE probe handle and / or the catheter configured to extend out of or away from another end of the carriage or the receptacle.BRIEF DESCRIPTION OF THE DRAWINGS

[0137] Non-limiting features of some embodiments of the inventions are set forth with particularity in the claims that follow. The following drawings are for illustrative purposes only and show non-limiting embodiments. Features from different figures may be combined in several embodiments. It should be understood that the figures are not necessarily drawn to scale. Distances, angles, etc. are merely illustrative and do not necessarily bear an exact relationship to actual dimensions and layout of the devices illustrated.

[0138] FIG. 1 is a schematic illustration of a transesophageal echocardiography imaging system and a heart.

[0139] FIG. 2A is a schematic view of a TEE probe assembly capable of manual control.

[0140] FIG. 2B is an enlarged view of the knobs of the TEE probe of FIG. 2A.

[0141] FIG. 3A shows a side view of a robotic system for controlling a movement and / or position of an imaging probe or catheter of an imaging system, the system providing for proximal control, a distal guide, and a buckling control system in a collapsed state.

[0142] FIG. 3B is a side view of the robotic system of FIG. 3A, the system providing a buckling control system in an extended state.

[0143] FIG. 4A is a perspective view of a carriage configured to receive the TEE probe handle of FIG. 2A.

[0144] FIG. 4B illustrates a locating feature of the carriage of FIG. 4A.

[0145] FIG. 4C schematically depicts a perspective view of the carriage of FIG. 4A in a closed configuration.

[0146] FIGS. 4D-4F show additional embodiments and features of carriage assemblies.

[0147] FIGS 5A-5C illustrate a method of applying a knob interface to a knob of a standard TEE probe along a rotational axis of a knob thereof.

[0148] FIGS 5D-5F illustrate a method of applying a knob interface to a knob of a standard TEE probe at least partially transverse to a rotational axis of a knob thereof,

[0149] FIG. 6A depicts a schematic view of an example robotic transesophageal echocardiography system.

[0150] FIG. 6B depicts a top perspective view of a carriage of the robotic TEE system of FIG. 6 / X.

[0151] FIG. 6C depicts a bottom perspective view of the carriage of FIG. 6B.

[0152] FIG. 6D-1 depicts a side view of the carriage of FIG. 6B m a probe-robot docking position.

[0153] FIG. 6D-2 depicts a side view of the carriage of FIG. 6B with the probe handle rotated to a 90-degree position relative to the probe-robot docking position.

[0154] FIG. 6D-3 depicts a side view of the carriage of FIG. 6B with the probe handle rotated to a 180-degree position relative to the probe-robot docking position.

[0155] FIG. 6E is an enlarged view of a knob interface of the carriage of FIG. 6B.

[0156] FIG. 7A depicts a schematic view of a locating feature engaging with a knob.

[0157] FIG. 7B depicts a top view’ of the knob interface of FIG. 6E with a cover plate thereof removed.

[0158] FIG. 8A depicts a top view of an example configuration of a knob tracking system that can be used with the robotic TEE system of FIG. 6A.

[0159] FIG. 8B depicts a top view of the knob tracking system of FIG. 8 A with the probe handle inserted into the knob interface.

[0160] FIG. 8C depicts an image of a side of a knob of the TEE probe assembly of FIG. 2A as captured by a camera of the knob tracking system of FIG. 8A.

[0161] FIG. 8D depicts an image of a top side of a knob of the TEE probe assembly of FIG. 2A as captured by another camera of the knob tracking system of FIG. 8A.

[0162] FIG. 9A depicts a schematic view of another example configuration of a knob tracking system that can be used with the robotic TEE system of FIG. 6 A,

[0163] FIG, 9B depicts an image of a knob of the TEE probe assembly of FIG.2 A as captured by a camera of the knob tracking system FIG, 6 A.

[0164] FIG, 9C depicts another image of the knob as captured by the camera of the knob tracking system FIG. 6A.

[0165] FIG, 10A depicts a schematic view of another example configuration of a knob tracking system that can be used with the robotic TEE system of FIG. 6 A,

[0166] FIG. 10B depicts an image of the knob as captured by cameras of the knob tracking system of FIG. 10A.

[0167] FIG. 10C depicts another image of the knob as captured by cameras of the knob tracking system of FIG. 10A.

[0168] FIG. 11 depicts another example configuration of a knob tracking system that can be used with the robotic TEE system of FIG. 6A.

[0169] FIG. 12A depicts a top view of another example configuration of a knob tracking system that can be used with the robotic TEE system of FIG. 6A.

[0170] FIG. 12B depicts a top perspective view of the knob tracking system of FIG.12A.

[0171] FIG. 12C depicts a graph of a signal generated by an embodiment of the knob tracking system of FIG. 12A with a single reflective optical sensor being moved across two protrusions of the knob.

[0172] FIG. 12D depicts a graph of a signal generated by another embodiment of the knob tracking system of FIG. 12A with a reflective optical sensor being swept back-and- forth four times across one protrusion of the knob.

[0173] FIG. 13 depicts a knob of the standard TEE probe of FIG. 2A with enhanced index features.

[0174] FIG. 14 is a perspective view of a robotic transesophageal echocardiography (TEE) system.

[0175] FIG. 15 is an end view of the system of FIG. 14 with a probe handle interface disposed in an up-facing direction, in which a TEE probe handle can be inserted into a recess thereof with knobs thereof facing downwardly.

[0176] FIG. 16 is an end view similar to FIG. 15 with a first panel rotated to an open configuration to provide an access location between the first panel and a second panel disposed above the probe handle interface.

[0177] FIG 17 is a view similar to FIG. 16, with the first panel rotated relative to a third panel to provide another access location between the first panel and the third panel.

[0178] FIG, 18 is a view similar to FIG, 16, with the second panel rotated relative to a fourth panel to provide an access location above the probe handle interface and between the second panel and the fourth panel.

[0179] FIG. 19 is a view similar to FIG. 16, with the probe handle interface in a downwardly facing position and the fourth panel rotated relative to the second panel to provide an access location to the side of a downward facing TEE probe coupled with the probe handle interface.

[0180] FIG. 20 is a view of an outside portion of one embodiment of a latch for opening an access location, as illustrated in FIGS. 16-19, the latch being in an engaged configuration.

[0181] FIG. 21 is a view of an inside portion of the latch of FIG. 20 m an engaged configuration.

[0182] FIG. 22 is a view of an inside portion of one embodiment of a latch for opening an access location, as illustrated in FIGS. 16-19 in a configuration to disengage from a panel of a panel assembly.

[0183] FIG. 23A is a top perspective view of another example transesophageal echocardiography system in a closed configuration.

[0184] FIG. 23B is a top perspective view of the TEE system of FIG. 23A in an open configuration.

[0185] FIG. 23 C is a side view of the TEE system of FIG. 23 A showing a second latch component in a first position for constraining a handle of a TEE probe assembly.

[0186] FIG. 23D is a side view of the TEE system of FIG 23 A showing the second latch component in a second position for allowing disengagement of the handle from a handle interface.

[0187] FIG. 23E is a side view of the TEE system of FIG. 23 A showing the second latch component in the first position without the handle,

[0188] FIG 23F shows a cross-sectional view of the carnage of FIG, 23 A.DETAILED DESCRIPTION

[0189] Reference will now be made in detail to the preferred embodiments of the disclosure, examples of which are illustrated in the accompanying drawings. While the disclosure will describe preferred embodiments, it will be understood that they are not intended to limit the disclosure to those embodiments. On the contrary, the disclosure is intended to cover alternatives, modifications, and equivalents, which may be included within the spirit and scope of the invention as defined by the appended claims.

[0190] For convenience in explanation and accurate definition in the appended claims, the terms “up” or “upper”, “down” or “lower”, “inside” and “outside” are used to describe features of the present disclosure with reference to the positions of such features as displayed in the figures. Accordingly, the following definitions will be used: a “midline” means a reference line down the longitudinal or central axis of a body or a procedural table; “up” or “upper” means a superior position located toward the head end of a body or a procedural table; “down” or “lower” means an inferior position located away from the head end of a body or a procedural table; “inside” means a medial position located towards a longitudinal or central axis of a body or a procedural table; “outside” means a lateral position located away from the longitudinal or central axis of a body or a procedural table.

[0191] In many respects the modifications of the various figures resemble those of preceding modifications and the same reference numerals followed by subscripts “A”, “B”, “C”, and “D” designate corresponding parts.I. TEE SYSTEM FOR ROBOTIC CONTROL OF ULTRASOUND TRANSDUCER

[0192] FIG. 1 shows a system 100 for imaging a part of an anatomical structure 101 (e.g., a heart). The system 100 can include, for example, a catheter 102 and a console 104 having an optional display 105. In various embodiments, the imaging probe and / or the console can be similar in certain respects to transesophageal echocardiography (TEE), transthoracic, and other medical imaging systems. The console 104 is positioned outside the body and a probe 106 disposed on the end of a catheter 102 is positioned inside the body. The catheter and probe can be configured for esophageal or for percutaneous insertion, for example.

[0193] The probe may be one of a variety of imaging modalities. Examples include an ultrasound transducer. Such imaging probes may be known by one of skill in the art from the description herein including, but not limited to, probes used for transthoracic and / or TEE (e.g., 2D spatial + ID time = 3D and 3D spatial + ID time = 4D). In various embodiments, the probe is a mini-TEE probe. In various embodiments, the probe is miniaturized by including only the necessary number of signal lines and imaging elements. In some embodiments, the system can include a plurality of imaging modalities and can be configured to cycle through or combine different imaging modalities to acquire the necessary images (e.g., ultrasound probes and / or other imaging technologies such as fluoroscopy, CT, etc.).

[0194] The probe 106 can be electrically connected to the console 104. Processing of the data collected by the probe may be accomplished via electronics and software in the console. The console may include, for example, various processors, power supplies, memory, firmware, and software configured to receive, store, and process data collected by the probe 106. Various types of probes may be used as would be understood by one skilled in the art.

[0195] In various embodiments, the catheter 102 can be controllable and automated, such as by robotic control. The catheter 102, such as the distal end of the catheter 102, can be advanced and retracted axially from or relative to the console 104. The probe 106 can be steerable in multiple degrees of freedom, as indicated by the arrows in FIG. 1. Robotic control of the catheter 102 can employ one or more robotic arms, linkages, or links. In various embodiments, the system is configured to store and interpret data taken by the probe in multiple locations in the time domain. In various embodiments, the system uses the interpreted data to generate information for a clinician. For example, the system may construct a 3D anatomical model based on image data taken from multiple locations. In another example, the system generates image data based on composite data from multiple locations.II. EXAMPLE TEE PROBE ASSEMBLY

[0196] FIGS. 2A-2B illustrate an example of a TEE probe assembly 200 capable of being operated manually to provide degrees of freedom of movement of a distal portion 202 of the TEE probe assembly 200. FIG. 2A is a schematic view of the TEE probe assembly 200. The TEE probe assembly 200 may be a standard TEE probe assembly. The TEE probe assembly 200 can be used with and / or controlled (e.g., robotically controlled) with a robotic system (e.g., any of the systems or carriages discussed herein). The TEE probe assembly 200 can include a distal portion 202 and a handle 206. The distal portion 202 can include a probe tip 204 having an imaging element. The TEE probe assembly 200 can include a catheter 203 and a wire 205 (e.g., a power and control wire). A proximal end of the catheter 203 can be coupled with a first end of the handle 206. The wire 205 can be coupled to a second end of the handl e 206. The second end of the handle 206 can be opposite to the first end. The handle 206 of the TEE probe assembly 200 is configured to be manually manipulated to move the distal portion 202 of the probe assembly to a desired pose. The handle 206 of the TEE probe assembly 200 can include one or more (e.g., a plurality of) knobs (e.g., a first knob 208 and a second knob 210). FIG. 2B is an enlarged view of the plurality of knobs of the standard TEE probe of FIG. 2A. Each knob 208, 210 can include an outer periphery configured to be manually rotated to control a distal portion 202 of the probe assembly to flex the probe tip 204 relative to anatomy of a patient. The first knob 208 can be used to flex the distal portion 202 of the probe assembly anteriorly and posteriorly (A-P). The second knob 210 can be used to flex the distal portion 202 of the probe assembly in a first direction in a medial-lateral (M-L) plane and in a second direction in the medial lateral direction. In other embodiments, the flexing direction controlled by the first and second knobs 208, 210 can be swapped. The knob (e.g., the first knob 208 and the second knob 210) may include a dial. The first and second knobs 208, 210 are sometimes referred to as the small and large (or big) knobs, respectively, in some contexts. The first and second knobs 208, 210 may be referred to as control knobs. A user interface input (e.g., one of the knobs or another button) or the TEE probe handle 206 can be used to rotate (R) the distal portion 202. The distal portion 202 can be advanced distally or retracted proximally (D-P). As described in more detail below, the TEE probe assembly 200 can be operated robotically following engagement of the knob with a robotic system, e.g., by placing the knobs in knob interfaces coupled with the carriages described herein.

[0197] The first knob 208 can be rotatable about a first rotation axis, and the second knob 210 can be rotatable about a second rotation axis. The first and second axes of rotations can be colinear axes such that the first and second knobs 208, 210 of the TEE probe assembly 200 are disposed on a common rotational axis. The first and second knobs 208, 210 can have a periphery configured for gripping, e.g., a plurality of, such as five, peripheral projections 214. The first knob 208 can be mounted above the second knob 210 and can have a smaller periphery (e.g., smaller circumference) than the second knob 210. The second knob 210 can be mounted below the first knob 208. The first knob 208 can be disposed adjacent to or above the second knob 210. The second knob 210 can be disposed adjacent to a body or enclosure of the TEE probe handle 206. The enclosure can house mechanical control elements and, in some cases, electronics interfacing with ultrasound transducers on the tip of the TEE probe assembly 200.

[0198] The knob (e.g., the first and / or second knob 208, 210) can include one or more index features 212. The one or more index features 212 can include a marking on one or more regions of the knob such that the relative rotational position of the control can be tracked as the knob is rotated. For example, the one or more index features 212 can be utilized to determine a rotational position of the knob relative to an initial position of the knob. In this respect, the position of the one or more index features 212 can correspond to a specified flexion of the distal portion 202 (e.g., the probe tip 204) of the TEE probe assembly 200. In some embodiments, the index feature 212 can be positioned on the knob such that when the index feature 212 is aligned with the longitudinal axis of the TEE probe handle 206, the probe tip 204 is placed in an undeflected (e.g., unflexed or neutral) state. The one or more index features 212 can include a visual marker, a tactile marker, an electronic marker, an auditoiy marker, a rotational position marker (e.g., an ArUco code), or any other type of marker capable of being detected by a human operator, a camera, an optical sensor or other sensing device. As shown in FIG. 2B, the index feature 212 can include an elongate projection extending from a peripheral projection of the knob. With respect to the knob shown in FIG. 2B, the knob includes a total of six peripheral protrusions (five peripheral protrusions with a first form of indexing feature, e.g., three elongate projections on each and one peripheral protrusion with a second form of indexing feature, e.g., a single elongate projection). In this configuration, the singleelongate projection functions as an index feature 212 for rotationally positioning the knob to provide a desired configuration of the probe tip 204 of the TEE probe assembly 200.

[0199] As shown in FIG. 2B, in some embodiments, the TEE probe handle 206 can include a pose lock 216 (e.g., a brake). The pose lock 216 can maintain a rotational position of the knob. The pose lock 216 can function to lock the position of the first knob 208 and / or second knob 210. When engaged, the pose lock 216 can prevent rotation of the first knob 208 and / or second knob 210, thereby locking the distal tip of the TEE probe assembly 200 in a fixed pose (e.g,, the current pose with the current amount of flexion). When the pose lock 216 is disengaged, the first knob and / or the second knob 210 can be rotated to change a pose of the distal tip of the TEE probe assembly 200.in. EXAMPLE SYSTEM FOR ROBOTICALLY CONTROLLING A CARRIAGE AND A CATHETER PROBE HANDLE

[0200] FIGS. 3A-3B illustrate a system 1000 for controlling a movement and / or a position of an ultrasound transducer, e.g., of the probe tip 204 of the TEE probe assembly 200 as part of a TEE imaging system. The system 1000 can include a support, e.g., a support arm 1002, a carriage 1004, and a guide 1006.

[0201] FIG, 3 A illustrates a side view of the system 1000. As shown in FIG. 3 A, the carriage 1004 can be movably secured to a top surface of the support arm 1002, The carriage 1004 can include or be driven by an actuator and can be configured to be coupled with an elongate probe portion. In some examples, the carriage 1004 can be configured to translate axially between a proximal end and a distal end of the support arm 1002, as indicated by the double-headed arrow, by a motor 1008 and transmission element (e.g., a belt (not shown)). The guide 1006 can be fixedly secured to the distal end of the support arm 1002. The guide 1006 can be the distal-most portion of a robotic system configured to control movement of the probe portion before the probe portion enters the patient’s mouth.

[0202] The carriage 1004 can be configured to receive a proximal end of an ultrasound probe or catheter, e.g., a TEE probe handle 206. The carriage 1004 can include a first body portion 1010, e.g., a lid, and a second body portion 1012, e.g. a base. The first body portion 1010 and the second body portion 1012 can be hingedly connected and configured to enclose a cavity between the first body portion 1010 and the second body portion 1012, e.g., with a clamshell configuration. The carriage 1004 and other carriages described herein canalso include a receptacle configured to receive at least a portion of the TEE probe handle 206 and in some embodiments a receptacle can be provided that is not enclosed in a clamshell or other enclosure arrangement. The carriage 1004 can further include one or more securing mechanisms 1014 to secure the first body portion 1010 to the second body portion 1012. The one or more securing mechanisms 1014 can be configured to engage with a corresponding slot 1016 of one of the first body portion 1010 and / or the second body portion 1012. The securing mechanisms 1014 can include a spring member 1018 and a clamp member 1020 to be fitted in a slot 1016, The securing mechanisms 1014 could include a latch device. In the embodiment of FIGS. 3A-3B, the carriage 1004 is translatable but does not rotate. Rather, the carriage 1004 is provided with a motor and transmission element to rotate the ultrasound probe handle (e.g., a TEE probe handle 206) about a rotational axis R-R within the carriage 1004, In other embodiments, the carriage 1004 itself can rotate along with a TEE probe handle 206 coupled therewith.

[0203] The carriage 1004 can further include a buckling control support 1022, The buckling control support 1022 can be configured to support at least a portion of the TEE probe assembly 200 (e.g., the catheter 203) between the carriage 1004 and the guide 1006. The buckling control support 1022 can optionally extend from the distal end of the carriage 1004 to a distal portion of the support arm 1002 and / or the proximal end of the guide 1006. In some cases, the buckling control support 1022 can include a system having a collapsed state (as shown in FIG. 3A) and an extended state (as shown in FIG. 3B). The buckling control support 1022 can extend between the carnage 1004 and the guide 1006 for all positions of the carriage 1004 along the support arm 1002. The buckling control support 1022 can have a telescoping arrangement.

[0204] FIGS. 4A-5F depict additional example systems for controlling a movement and / or a position of the TEE probe assembly 200 that can include a carnage and one or more knob interface members that can be used with or can incorporate one or more features of the systems 100, 1000 discussed above. These systems can control a movement and / or position of a TEE probe assembly 200 coupled with the carriage. The systems can include a carriage, one or more knob interface members, and one or more motor and transmission assemblies. The system can additionally include a TEE probe assembly 200.

[0205] FIGS. 4A-4C illustrate one embodiment of the carriage 400. The carriage 400 depicted in FIGS. 4A-4C can incorporate one or more features of the carriage 1004 described above with respect to FIGS. 3A-3B. The carnage can be integrated into the system 1000 discussed above. In some embodiments, the carriage 400 can replace the carriage 1004 when integrated into the system 1000. The carriage 400 can be configured, e.g., dimensioned, to receive the TEE probe handle 206. The carriage 400 can provide motorized control of manual knobs of the TEE probe handle 206, for example as illustrated in connection with FIGS.6A-6E. The carriage 400 can include a base 402, a lid 404, and / or a buckling control support 406.

[0206] FIG. 4A depicts a top perspective view of the carnage 400, As shown in FIG. 4A, the base 402 can include an interior surface with a recess 408. The interior surface and the recess 408 can form at least a portion of a device interface (also referred to herein as a handle interface) of the carriage 400 for receiving the probe handle 206. Some portions of the base 402 of the carriage 400 can be monolithically formed as a device interface. The interior surface and the recess 408 can be shaped to receive the handle 206 of the TEE probe. The interior surface and the recess 408 can be shaped to conform to the exterior contours of the knobs (e.g., the first knob 208 and / or the second knob 210) of the handle 206 and in some cases can include contours to receive a housing of the handle 206 to which the knobs are mounted. The recess 408 can be configured, e.g., dimensioned, to receive knob interface members 508, 510 as described below. Accordingly, the base 402 can partly enclose a space configured to receive at least a portion of the TEE probe handle 206. The base 402 can secure the handle 206 to the carriage 400 to inhibit (e.g., prevent) axial, rotational, or other movement of the handle 206 relative to the carriage 400.

[0207] In some embodiments, the base 402 can additionally include one or more locating features 410, 412. The one or more locating features 410, 412 can rotationally align the knob (e.g., the first knob 208 and / or the second knob 210) of the handle 206 when the knob is placed into the recess 408 of the base 402. Specifically, the one or more locating features 410, 412 can rotationally align the knob to place the distal portion 202 of the TEE probe assembly 200 in a selected position or orientation (e.g. an initial operating position). As shown in FIG. 4B, each locating feature can interface with a concave feature of the knob or of the knob interface member (e.g., the first knob interface member 508 and / or the second knobinterface member 510) to rationally align the knob. The knob can be advanced over the one or more locating features 410, 412 to bring the knob into alignment with the recess 408. Rotational alignment of the knob and / or knob interface member can enable the concave and convex features of the knob and / or knob interface member to be aligned with corresponding concave and convex features of the recess 408 such that the knob and / or knob interface member can be inserted into the recess 408. Such alignment causes the knobs or knob interface members to be advanced into engagement with driving elements (transmission elements, gears, sprockets, etc.) in the recess 408. As shown in FIG, 4B, the base 402 can include a first locating feature 410 and a second locating feature 412. The locating features 410, 412 can be disposed around the periphery of the recess 408. As shown in FIG. 4B, the first locating feature 410 and the second locating feature 412 can be disposed on opposite sides of the recess 408. In some embodiments, the one or more locating features 410, 412 can be one or more lobe guides. The one or more locating features 410, 412 can include a wedge 414 fixed to the base 402, As shown in FIG. 4B, each wedge 414 can protrude from the recess 408 and extend into the recess 408. The wedge 414 can be supported on a ring member facilitating connection to the base 402 in or adjacent to the recess 408. Other embodiments of the carriage 400 can include any other n umber of locating features 410, 412 disposed at any other arrangement around the recess 408.

[0208] As shown in FIG. 4A, the lid 404 can be configured to receive at least a portion of the TEE probe handle 206. The lid 404 can be positioned over the base 402 to secure the TEE probe handle 206 within the space partly enclosed by the base 402. When the lid 404 is positioned over the base 402, an interior cavity can be formed between the base 402 and the lid 404. The cavity can be configured, e.g., dimensioned, to receive the TEE probe handle 206. When the lid 404 is positioned over the base 402, the carriage 400 can enclose at least a portion of the TEE probe handle 206 (if the TEE probe handle 206 is positioned within the cavity). In some embodiments, the carriage 400 can enclose the entirety or almost the entirety of the TEE probe handle 206. As shown in FIG. 4A, the base 402 and the lid 404 can be coupled together. In some embodiments, the base 402 can be pivotably coupled (e.g., hingedly connected) to the lid 404. For example, the carriage 400 can have a clamshell design. In some embodiments, the base 402 can be detachably coupled to the lid 404. In these embodiments, the lid 404 can function as a door. The carriage 400 can be transitioned between (1) a first (e.g., open) configuration in which the base 402 and the lid 404 do not enclose the cavity (see FIG. 4A)and (2) a second (e.g., closed) configuration in which the base 402 and the lid 404 enclose the cavity (see FIG. 4C). When in the first configuration, the cavity can be accessed to enable loading of the TEE probe handle 206 into the cavity (see FIG. 4B).

[0209] FIG. 4B depicts a top perspective of the carriage 400 with a TEE probe handle 206 inserted into the cavity. When in the second configuration, the base 402 and the lid 404 are urged together so that the base 402 and the lid 404 collectively enclose the cavity and the TEE probe handle 206 between the base 402 and the lid 404 (see FIG. 4C). The second configuration can be the operational configuration of the carriage 400 in which the carriage 400 can be operated to robotically control the TEE probe assembly 200, In some embodiments, the base 402 and the lid 404 can be coupled together by one or more securing mechanisms. In some embodiments, the one or more securing mechanisms can include a spring and a clamp member. In other embodiments, the one or more securing mechanisms can include any structure capable of securing the base 402 to the lid 404 including, but not limited to mechanical fasteners, hinges, adhesives, hook and loop fasteners, etc. In some embodiments, the securing mechanisms can secure the base 402 and the lid 404 together during operation of the carriage 400.

[0210] FIG. 4C schematically depicts a perspective view of the carriage 400 in the second (e.g., closed) configuration. As shown in FIG. 4C, the base 402 and / or the lid 404 can additionally include a transmission element 416, The transmission element 416 can engage with a motor and transmission assembly to enable rotation of the carriage 400 about a rotation axis R-R. The motor and transmission assembly can include a motor 418 and a transmission 420. Specifically, the transmission element 416 can engage with the transmission 420 of the motor 418 and transmission assembly. The rotation axis R-R can be coaxial with a longitudinal axis of the carriage 400 and / or the handle 206. As shown in FIG. 4C, the transmission element 416 can include a plurality of teeth. The plurality of teeth can be disposed on at least one of the base 402 and the lid 404. In some embodiments, the transmission element 416 can include a first plurality of teeth disposed on a periphery of an end portion of the base 402 and a second plurality of teeth disposed on a periphery of an end portion of the lid 404. The plurality of teeth can be disposed in an annular pattern around an inward facing surface of a projection of the base 402 and an inward facing surface of a projection of the lid 404. In some embodiments, the plurality of teeth can be disposed circumferentially around an entire perimeter of the base402 and the lid 404. In other embodiments, the plurality of teeth can be disposed along only a portion of the perimeter of the base 402, along only a portion of the perimeter of the lid 404, or along only a portion of the perimeter of the base 402 and the lid 404. In another embodiment, the transmission element 416 can be any other suitable structure capable of engaging with a transmission member to facilitate rotation of the carriage 400.

[0211] As shown in FIG. 4C, the carriage 400 can include and / or be coupled to a motor and transmission assembly. The motor and transmission assembly can include a motor 418 and a carnage control transmission 420 for robotically controlling rotation of the carriage 400. The carriage control transmission 420 can be operatively coupled to and rotationally driven by a motor 418. The carriage control transmission 420 can engage with the transmission element 416 on the carriage 400 to rotate the carriage 400 about the rotational axis R-R The direction of the motor 418 can be reversed to enable clockwise and counterclockwise rotation of the carriage 400. As shown in FIG. 4C, the carriage control transmission 420 can include a sprocket. The sprocket can engage with the plurality of teeth disposed on the base 402 / and or the lid 404 of the carriage 400. The sprocket can be robotically driven by the motor 418 to incrementally adjust the rotation of the carriage 400. In other embodiments, the carriage control transmission 420 can include any other suitable mechanism capable of transferring rotational motion to the carriage 400. For example, in other embodiments, the carriage control transmission can include a drive gear and / or pulley and a driven gear and / or pulley, a drive belt, a toothed belt, etc. The motor 418 and the sprocket to drive the carriage 400 can be integrated into a carriage 400 such that the sprocket engages the carriage 400 and rotates the carriage 400. While not shown, the motor 418 and transmission assembly can additionally include one or more motors and one or more knob control transmissions for robotically controlling the knobs of the handle 206. The knob control transmission will be discussed in more detail below with respect to FIGS. 6A-6E.

[0212] As shown in FIG. 4A, the carriage 400 can further include a buckling control support 406 configured to support at least a portion of the TEE probe assembly 200. The buckling control support 406 can be the same as or similar to the buckling control support 1022 described above with respect to FIGS. 3A-3B.

[0213] FIGS 4D is a top view of another embodiment of the carriage 400B with a TEE probe handle 206 mounted thereto. The carriage 400B includes a device interface, e.g.,a recess 408 into which knobs of the TEE probe of FIG. 11 can be inserted. A retainer 422 can be used to hold the TEE probe handle 206 against the device interface. The device interface may also be referred to herein as a handle interface. The carriage 400B also includes a first cable retainer 422 at one end configured to hold a power wire 205 of the TEE probe of FIG.11 during movement of the carriage 400B, particularly during rotation thereof. The first cable retainer 422 can be located at the proximal end of the carriage 400B. The carriage 400B also includes a second cable retainer 426 at one end configured to hold a catheter 203 of the TEE probe of FIG. 11 during movement of the carriage 400B, particularly during rotation thereof. The second cable retainer 426 can be located at the distal end of the carriage 400B. One or both of the first and second cable retainer 426 can be configured for manual insertion of the power wire 205 or catheter 203 therein. For instance, the cable retainers can have angled slots in which the slot is angled relative to a longitudinal axis of the carriage 400B (e.g., the longitudinal axis of the device interface). In use, a portion of the power wire 205 or the catheter 203 can be inserted at an angle, e.g., 10, 20, 30, 40, 50 degrees to the longitudinal axis of the carriage 400B and then rotated by the angle to be aligned with the longitudinal axis of the carriage 400B. Since the portion of the power wire 205 or the catheter 203 that is inserted generally extends along or aligned with the longitudinal axis of the carriage 400B, the power wire 205 or the catheter 203 will not inadvertently come out of the cable retainer 422. In one case, the cable retainer 422 comprises a partial ring with tapered tips at opposite ends thereof. The tapered tips of the partial ring can overlap circumferentially such that the power wire 205 or catheter 203 can contact both tapered tips when aligned with the longitudinal axis.

[0214] The carriage 400B shown in FIGS. 4D-4F or parts thereof can be integrated into the clamshell housing of FIG. 4A. For example, the lid 404 of FIG. 4A can be added, the structure in FIGS. 4E-4F acting as the base 402. In another example, the cable retainers of FIGS. 4E-4F can be added to provide cable management to the clamshell housing of the carriage 400 of FIG. 4A. In another embodiment, the carriage 400B of FIGS. 4D-4F can operate as depicted, e.g., without any lid 404 structure enclosing the TEE probe handle 206. In this example, the side of the TEE probe handle 206 opposite to the side with the knobs can be exposed in use other than where the TEE probe retainer wraps around that side. To drive this variant of the carriage 400B, driven features 428 can be provided in one of the cable retainers, e.g., in an inside surface similar to the transmission element 416 of FIG. 4C.

[0215] FIGS. 5A-5F show the probe handle 206 and the knob interface member as the knob interface members are coupled to the knobs of the probe handle 206. In some modified embodiments, a single knob interface member is provided. The knob interface members can function as an interface between the knobs of the handle 206 and the carriage 400 to enable motorized control of the knobs by the carriage 400, e.g., by motors mounted to the carriage 400 as discussed in one example in connection with FIGS. 6A-6E. The knob interface members can be mounted on the knobs of the handle 206. In some embodiments, the knob interface members can be configured to fit over the exterior surface of the knobs. FIG.5A shows that the knob interface member can include an interior periphery (e.g., interior surface) and an exterior periphery (exterior surface). The interior periphery of the knob interface member can be shaped to engage an external periphery of the knob. The knob interface member and the knob can be inserted into the recess 408 of the base 402 of the carriage 400. The external periphery of the knob interface can include or can be coupled with a transmission element 416. The transmission element 416 can engage a transmission (e.g., a belt, sprocket, chain or gear) coupled to a motor 418 coupled with the carriage 400. As shown in FIGS. 5A-5F, the transmission element 416 can include one or more grooves shaped to receive the transmission coupled to the motor 418.

[0216] In some embodiments, the knob interface member can include a first knob interface member 508 and a second knob interface member 510. The first knob interface member 508 can engage the first knob 208 to facilitate motorized control of the first knob 208 by the carriage 400 or by a system including the carriage 400, e.g., including motors on the carriage 400 as discussed in connection with FIGS. 6A-6E. The second knob interface member 510 can engage the second knob 210 to facilitate motorized control of the second knob 210 by the carriage 400 or by a system including the carriage 400. The first knob interface member 508 and the second knob interface member 510 can each include an interior periphery, an exterior periphery, and a transmission element 416. As shown in FIG. 5D-5E, the second knob interface member 510 can include a clamshell configuration. The claim shell configuration can enable the second knob interface member 510 to wrap around the second knob 210 of the TEE probe handle 206. As shown in FIG. 5E, opposing portions of the second knob interface member 510 can be spread apart to enable the second knob interface member 510 to be placed around the second knob 210.

[0217] FIGS. 5A-5F illustrate a method of applying one or more knob interface members to one or more knobs of the TEE probe assembly 200. FIGS. 5A and 5B depict the first knob interface member 508 prior to being mounted on the first knob. FIG. 5C depicts the first knob interface member 508 after being mounted on the first knob 208. As shown in FIGS.5A-5C, the first knob interface member 508 can be mounted on the first knob along a rotational axis of the first knob. FIGS. 5D and FIG. 5E depict the second knob interface member 510 prior to being mounted on the second knob 210. FIG. 5F depicts the first knob interface member 508 and the second knob interface member 510 after being mounted on the first knob and the second knob 210 respectively. As shown in FIGS, 5D-5F the second knob interface member 510 can be mounted on the second knob 210 along an axis that is at least partially transverse to a rotational axis of a knob thereof. The first knob interface member 508 and the second knob interface member 510 can be mounted on the first knob and the second knob 210 respectively in any order. In some embodiments, the knob interface member may include only the first knob interface member 508 or only the second knob interface member 510. In other embodiments, the knob interface member can include any number of additional independent knob interface members to engage with any number of knobs on the handle 206. If there is sufficient clearance, both knob interface members can be continuous rings as in the first knob interface member 508. Both knob interface members can have a clamshell design as in the second knob interface member 510.

[0218] As discussed herein, the motor and transmission assembly can additionally include one or more motors and one or more knob control transmissions for robotically controlling the knobs of the handle 206. The knob control transmission can be operatively coupled to and driven by one or more motors. The knob control transmission can receive rotational motion output from the motor 418 and transfer the rotational motion to the knob interface member. The knob control transmission can engage with the knob transmission element 416 on the knob interface member to rotate the knob on the handle 206. The direction of the motor 418 can be reversed to enable clockwise and counterclockwise rotation of the knob. In some embodiments, the knob control transmission can include a belt (e.g., a toothed belt). The belt can engage the one or more grooves of the transmission element 416 of the knob interface member. In other embodiments, the knob control transmission can include any other suitable mechanism capable of transferring rotational motion to the transmission element 416of the knob interface member. For example, in other embodiments, the knob control transmission can include a sprocket, a drive gear and / or pulley and a driven gear and / or pulley, a drive belt, etc.

[0219] In some embodiments, the knob control transmission can include a first knob control transmission and a second knob control transmission. The first knob control transmission and the second knob control transmission can each be identical to knob control transmission described above. The first knob control transmission and the second knob control transmission can each be coupled to a separate motor 418, as discussed in connection with FIGS, 6A-6E. In other embodiments, the first knob control transmission and the second knob control transmission can be coupled to the same motor 418. The first knob control transmission and motor can form a first motor and transmission assembly. The second knob control transmission and motor can form a second motor and transmission assembly. The first knob control transmission can receive rotational motion output from a motor and transfer the rotational motion to the first knob interface member 508. The first knob control transmission can engage with the knob transmission element on the first knob interface member 508 to rotate the first knob on the handle 206. The direction of the motor can be reversed to enable clockwise or counterclockwise rotation of the first knob. The second knob control transmission can receive rotational motion output from a motor and transfer the rotational motion to the second knob interface member 510. The second knob control transmission can engage with the knob transmission element on the second knob interface member 510 to rotate the second knob 210 on the handle 206. The direction of the motor can be reversed to enable clockwise or counterclockwise rotation of the second knob 210. Additional motor and knob control transmissions can be included to enable robotic control of additional knobs on the handle 206.

[0220] A robotic transesophageal echocardiography system including the carriage 400 of FIGS. 4A-4C can be operated according to a method of operation. The method of operation can include providing a standard TEE probe assembly 200. The probe assembly can include an imaging element disposed at a distal portion 202, a handle 206 disposed proximal of the distal portion 202, and an electrical connector extending from a proximal portion of the handle 206. The handle 206 can include a knob configured to be rotated to adjust at least one degree of freedom of the distal portion 202 of the TEE probe assembly 200. The method can also include advancing a knob interface member over the knob of the handle 206 of thestandard TEE probe assembly 200 to engage an inner feature of the knob interface member with an outer feature of the knob. The method can also include engaging the knob interface member with a transmission of a motor 418 and transmission assembly (see, e.g., FIGS. 6A-6E). The method can also include applying a torque to the knob interface member by operation of the motor 418 and transmission assembly. In some embodiments, advancing the knob interface member can include moving the knob interface member along a rotational axis of the knob until the knob interface member is engaged with the knob. In some embodiments, advancing the knob interface member can include opening a periphery7of the knob interface member, moving the knob transverse to the rotational axis of the knob, and closing the periphery of the knob interface member around the knob. The method can also include placing the handle 206 of the standard TEE probe assembly 200 in a carriage 400 after advancing the knob interface member over the knob. In some embodiments, engaging the knob interface member can include positioning a belt around the knob interface member and engaging the belt with the motor 418.

[0221] In some embodiments, the knob interface member is a first knob interface member 508, the knob is a first knob 208, and the motor and transmission assembly are a first motor and transmission assembly. The method can also include advancing a second knob interface member 510 over a second knob 210 of the standard TEE probe assembly 200 and thereafter engaging the second knob interface member 510 with a second motor and transmission assembly. The first motor and transmission assembly and the second motor and transmission assembly can be mounted on a carriage 400. The method can also include moving the carriage 400 to change position or orientation of the distal portion 202 of the standard TEE probe assembly 200 in the patient. The method can also include rotating the carriage 400 to rotate the distal portion 202 of the standard TEE probe assembly 200 about a longitudinal axis of the distal portion 202. The method can also include advancing the knob over a locating feature to rotationally align a concave feature of the knob or of the knob interface member to place the distal portion 202 of the TEE probe assembly 200 in a selected position. The locating feature can include a wedge 414 fixed to the base 402. The knob can advance entirely past the w’edge 414 when the handle 206 is fully placed into the carriage 400. In some embodiments, the locating feature can include a wedge 414 fixed to the base 402 of the carriage 400. In someembodiments, placing the handle 206 of the standard TEE probe assembly 200 in a carriage 400 includes advancing the knob entirely past the wedge 414.

[0222] In some embodiments, a probe adapter kit can be provided to equip standard TEE probe assembly 200 to interface with a system including a carriage 400 as depicted in FIGS. 4A-4C. The probe adapter kit can include a first knob interface member 508 and a second knob interface member 510. The first knob interface member 508 can be mounted on a first knob of the standard TEE probe handle 206 by being advanced along the rotational axis of the first knob. The second knob interface member 510 can be mounted on a second knob 210 of the standard TEE probe handle 206 by expanding an opening at a periphery7of the second knob interface member 510, advancing the second knob interface member 510 transverse to the rotational axis of the second knob 210, and closing the second knob interface member 510 around the second knob 210.IV. SYSTEMS AND METHODS FOR REGISTERING INITIAL POSITION AND FOR TRACKING POSITION CHANGES OF A CONTROL KNOB OF A CATHETER PROBE HANDLE

[0223] For invasive imaging a probe tip 204 is inserted into the patient and placed in contact with tissue to capture an image. The position and orientation of the probe tip 204, sometimes referred to as the pose, must be controllable in order to capture a high-quality image. The pose of the probe tip 204 is often controlled by a manual controller, e.g., a mechanical actuator such as a knob, operated by hand by a user. Manual control is very responsive but requires persistent control by a highly-skilled medical professional such as an echocardiologist. Providing robotic control of the pose of the probe tip 204 is desired to improve the efficiency of the procedure, to enable skilled operators to focus on higher level tasks, and to lessen resource constraints rising from the limited number of such operators. Transesophageal echocardiography (TEE) is one example of a procedure that would benefit from systems and methods of providing robotic control.

[0224] Among the challenges faced in implementing robotic control of a TEE probe is the process of mating a TEE probe with a robotic control interface. A TEE probe is typically provided with a manual control interface, which can include manual actuators such as knobs. Providing a robotic system that can manipulate the manual control interface enables the TEE probe to preserve the ability' to be used in a traditional manner, manually. As a result, certain portions of a procedure can continue to routinely be performed manually. In someinstances, an ability to switch from robotic control to manual control can be provided where the user can intervene and control the imaging end of the TEE probe in a traditional manner.

[0225] Robotic control of a TEE probe ’ould be enhanced by enabling the robotic control interface to receive the manual control interface with actuators in a known and / or in a prescribed position.

[0226] FIGS. 6A-12D illustrate example robotic transesophageal echocardiography (TEE) systems. The robotic TEE systems depicted in FIGS. 6A-12D can be examples of the system 100 described above with respect to FIG, 1, The robotic TEE system can control a movement and / or a position of the probe tip 204 of the TEE probe assembly 200, The robotic TEE system can include a TEE probe assembly 200, a support arm 602, a carriage 600, a knob tracking system, and / or one or more hardware processors.

[0227] FIGS. 6A-6E illustrate embodiments of a carriage 600 (e.g., a carriage assembly). FIG. 6A shows a carriage that can support the TEE probe assembly 200 of FIG. 2 A over a range of rotational positions. As shown in FIG. 6A, the carriage 600 can be supported by the support arm 602 (e.g., a robotic support arm). The carnage 600 can be conveyed along the support arm 602 by a motor 605 coupled with the support arm 602. Specifically, the support arm 602 and motor 605 can facilitate linear movement (e.g., proximal or distal movement) of the carriage 600 along the support arm 602. The carriage 600 can be coupled with a transmission element, such as a belt, wire, or chain which can operate to move the carriage 600 along the support arm 602. The transmission element can be driven by the motor 605.

[0228] FIG. 6B depicts a top perspective view of the carnage 600 of the robotic FEE system of FIG. 6A. FIG. 6C depicts a bottom perspective view of the carriage 600 of FIG.6B. The carriage 600 can include one or more of a base 601, a movable rotation guide 628, a first rotation guide 630, a device interface 610, a cover plate 604, and / or one or more motor and transmission assemblies. The base 601 can function as a support structure for holding and / or supporting one or more other components of the carriage 600.

[0229] FIG. 6E depicts a top view of the device interface 610 (e.g., probe handle interface) as seen with the TEE probe assembly removed from carriage 600 of FIG. 6A. The device interface 610 can be coupled to the base 601 and / or the cover plate 604. The carriage 600 device interface 610 can be configured to receive a portion of the TEE probe assembly 200. The d evice interface 610 can function to receive at least a portion of the probe handle 206of the TEE probe assembly 200 and secure the handle 206 to the carriage 600. The device interface 610 can be shaped to conform to at least a portion of the exterior contours of the handle 206 and in some cases can include contours to receive a housing of the handle 206 to which the knobs are mounted. For example, a recess is provided into which the first and second knobs 208, 210 of the TEE probe assembly 200 can be received (with or without the first knob interface member 508, and / or the second knob interface member 510). The device interface 610 can secure the handle 206 to the carriage 600 to constrain (e.g., prevent) axial, rotational, or other movement of the handle 206 relative to the carriage 600. The device interface 610 can be coupled with the base 601 of the carriage 600 such that the device interface 610 rotates with the base 601. The handle 206 of the TEE probe assembly 200 can be mounted onto the device interface 610 such that one end of the handle 206 and / or the power and control wire 205 can extend through a proximal end of the carriage 600 and an opposing end of the handle 206 and / or the catheter 203 can extend through the distal end of the carriage 600. The device interface 610 can engage the handle 206 of the TEE probe assembly 200 and rotate with the carriage 600 about the rotation axis R-R. When the handle 206 of the TEE probe assembly 200 is coupled with the device interface 610, the handle 206 can be disposed on the axis R-R.

[0230] As shown in FIG. 6E, the device interface 610 can include a knob interface 612 and / or a pose lock interface 614. The knob interface can engage the outer periphery of the first and / or second knobs 208, 210 (with or without the first knob interface member 508, and / or the second knob interface member 510). In some embodiments, a contour of the inner periphery of the knob interface 612 can be a negative of at least a portion of a contour of the outer periphery of the knob. For example, the knob interface 612 can include a recess into which the first and / or second knobs 208, 210 of the TEE probe assembly 200 can be received. The knob interface 612 can function as an interface between the knobs of the handle 206 and the carriage 600 to enable motorized control of the knobs by the carnage 600, (e.g., by motors 1008 mounted to the carnage 600 as discussed in one example in connection with FIGS. 6A-6E). The knob interface 612 (e.g., the recess) can receive and / or engage an outer periphery of the first and / or second knob 208, 210.

[0231] In some embodiments, the knob interface 612 can include a first knob 208 interface and a second knob interface. The first knob interface can engage the first knob 208 to facilitate motorized control of the first knob 208 by the carriage 600 or by a system includingthe carriage 600, e.g., including motors 1008 on the carriage 600 as discussed in connection with FIGS. 6A-6E. The second knob interface can engage the second knob 210 to facilitate motorized control of the second knob 210 by the carriage 600 or by a system including the carriage 600. In some embodiments, the first knob interface and the second knob interface can enable independent motorized control of the first and second knobs 208, 210.

[0232] As shown in FIG. 6E, the knob interface can include a first drive feature 616 and / or a second drive feature 618. The first knob interface can include the first drive feature 616. The second knob interface can include the second drive feature 618. The first drive feature 616 can engage with at least a portion of the outer periphery of the first knob 208 to rotate the first knob 208. The second drive feature 618 can engage with at least a portion of the outer periphery of the second knob 210 to rotate the second knob 210.

[0233] The pose lock interface 614 can receive at least a portion of the pose lock 216 of the TEE probe assembly 200. The pose lock interface 614 can function to secure the pose lock 216 in a fixed position (e.g., an unlocked or disengaged position). In some embodiments, it may be advantageous to secure the pose lock 216 in an unlocked or disengaged position to ensure that the first and second knobs 208, 210 can be freely rotated by the knob interface. As shown in FIG. 6E, the pose lock interface 614 can include a recess and / or aperture into which the pose lock 216 can be inserted. The recess and / or aperture can be formed in the cover plate 604 of the carriage 600.

[0234] FIG. 6B shows that the base 601 can support a motor and transmission assembly. The motor and transmission assembly can include a knob motor and a knob transmission. The knob transmission can be mechanically coupled to the knob interface. The knob transmission can be driven by the knob motor. The knob motor can cause a torque to be applied to the knob through the knob interface. In one example, the base 601 supports a first motor and transmission assembly on a bottom side and a second motor and transmission assembly on a top side. The top side is referred to as the side upon which the handle 206 of the TEE probe assembly 200 is mounted when the carriage 600 is configured for loading, e.g., in a docking position. The bottom side is referred to as the side opposite to the top side. In the illustrated example, the transmission component of the motor and transmission assemblies comprise flexible tension members, e.g., belts or wires, though other transmissions are also possible. The first motor and transmission assembly can include a first knob motor 620 and afirst knob transmission 622. The first knob motor 620 can cause a torque to be applied to the first knob 208 through the first knob interface. In one implementation, the first knob motor 620 is mounted on the top side of the base 601, the output shaft extends to the bottom side of the base 601, and the first knob transmission 622 is located on the bottom side of the base 601. The first transmission can be mechanically coupled to the first knob interface. The second motor and transmission assembly can include a second knob motor 624 and a second knob transmission 626. The second knob motor 624 can cause a torque to be applied to the second knob 210 through the second knob interface. In one implementation, the second knob motor 624 is mounted on the bottom side of the base 601, the output shaft extends to the top side of the base 601, and the second knob transmission 626 is located on the top side of the base 601. The second knob transmission 626 can be mechanically coupled to the second knob interface, A motor driver 636 can be provided for each motor, e.g., on the same side of the base 601 upon which the motor is mounted. The base 601 has a length that is close to the length of the handle 206 portion of the TEE probe assembly 200. As such, the probe shaft (catheter 203) and the connection cable (also referred to herein as power and control wire 205) extend from distal and proximal ends of the base 601 of the carriage 600.

[0235] As shown in FIGS. 6D-I to 6D-3, the base 601 can include a probe rotation system. The probe rotation system can rotate the TEE probe assembly 200 about rotation axis R-R. In one embodiment, the probe rotation system can include a movable rotation guide 628 (e.g., a movable arcuate rotation guide), a first rotation guide 630 (e.g., a first arcuate rotation guide), a probe rotation transmission 632, and a probe rotation actuator 634. The first arcuate rotation guide is fixedly connected to a robotic support, e.g., to the support arm 602. The probe rotation actuator 634 (e.g., a motor) can be mounted to the first arcuate rotation guide and / or to the support arm 602. The probe rotation actuator 634 can include the probe rotation transmission 632 on an output shaft thereof, e.g., a sprocket or gear, that engages a toothed interface, e.g., a rack formed on a moveable arcuate rotation guide. Rotation of the transmission element on the output shaft causes a driving member to apply a load to a rack which causes the moveable arcuate rotation guide. The moveable arcuate rotation guide is coupled with the base 601 so that movement (rotation) of the moveable arcuate rotation guide causes movement (rotation) of the base 601, as well as the probe handle 206 of the TEE probe assembly 200 coupled therewith.

[0236] FIG. 6D-1 depicts a side view of the carriage 600 of FIG. 6B in a probe¬ robot docking position. In this position, the handle 206 can easily be coupled with the base 601, e.g., knob(s) inserted into a recess of the base 601 to engage the motorized actuators of the carriage 600. Various techniques for registering the position of at least one of the first knob 208 and the second knob 210 are discussed below.

[0237] FIG. 6D-2 shows the probe handle 206 rotated to a 90-degree position relative to the probe-robot docking position. This is achieved by driving the moveable arcuate rotation guide relative to a first arcuate rotation guide, e.g,, by outputting rotation to a drive element coupled with the driven arcuate rack disposed on the moveable arcuate rotation guide. As shown in FIG. 6D-2, the movable rotation guide 628 is connected to the base 601 such that the base 601 (and the TEE probe handle 206 if attached to the base 601) rotates with the movable rotation guide 628. The carriage 600 can include two movable rotation guides 628 disposed at opposing ends of the base 601.

[0238] FIG. 6D-3 shows the probe handle 206 rotated to a 180-degree position relative to the probe-robot docking position. This is achieved by further driving the moveable arcuate rotation guide relative to the first arcuate rotation guide, e.g., by outputting rotation to the drive element coupled with the driven arcuate rack disposed on the moveable arcuate rotation guide. The operation of the carriage 600 of FIGS. 6A-6E can be by directly driving the knobs of the TEE probe assembly 200 or by driving the knob interfaces discussed in connection with FIG. 2A.

[0239] In some examples, the engagement of the first and second knobs 208, 210 in the recess is sufficient to retain the handle 206 portion of the TEE probe assembly 200 against the base 601 during operation (discussed below). In other cases, the carriage 600 can include a probe handle 206 retainer. The retainer can function to hold the probe handle 206 in the carriage 600 such that the knob interface of the carriage 600 remains engaged with the knob of the TEE probe. In some embodiments, the retainer can include a friction / press fit of the knob in the knob interfaces. In some embodiments, the retainer can include an elastic band disposed around the probe handle 206. In some embodiments, the retainer can include structural members that contact the probe handle 206 to hold the probe handle 206 in place.

[0240] In some embodiments, the carriage 600 can additionally include one or more locating features 638. FIG. 7A depicts a schematic view of a locating feature 638interfacing with a knob (e.g., one of the first knob 208 or second knob 210). The one or more locating features 638 can be the same as or similar to the locating features 410, 412 described above with respect to FIG. 4B. The one or more locating features 638 can rotationally align the knob of the handle 206 when the knob is placed into the knob interface (e.g., recess) of the base 601. The one or more locating features 638 can mechanically rotate the knob to a predefined orientation upon insertion of the knob into the knob interface. The one or more locating feature 638 can rotationally align the knob to place the distal portion 202 of the TEE probe assembly 200 in a selected position or orientation (e.g. an initial operating position). As shown in 7A, each locating feature 638 can interface with a concave feature of the knob to rationally align the knob. The knob can be advanced over the one or more locating features 638 to bring the knob into alignment with the recess of the knob interface. Rotational alignment of the knob and / or knob interface can enable the concave and convex features of the knob to be aligned with corresponding concave and convex features of the knob interface such that the knob can be inserted into the knob interface. Such alignment causes the knobs or knob interfaces to be advanced into engagement with driving features in the knob interface. As shown in FIG. 7 A, the base 601 can include or be coupled with a first locating feature 638. In other embodiments, the base 601 can include two, three, or any other number of locating features 638. The locating features 638 can be disposed around the periphery of the recess in which the knobs are inserted. In some embodiments, a first locating feature 638 can be disposed on an opposing side of the recess from a second locating feature 638. In some embodiments, the one or more locating features 638 can be one or more lobe guides. The one or more locating features 638 can include a wedge fixed to the base 601. The wedge can be slidably received in a concavity on the outer periphery of the knob, e.g., the knob can be advanced over the wedge such that the wedge passes through the concavity (as indicated by the central arrow pointing into the page). In some embodiments, each wedge can protrude from the recess of the knob interface and extend into the recess. The wedge features can be supported on a ring member facilitating connection to the base 601 in or adjacent to the knob interface. Other embodiments of the carriage 600 can include any other number of locating features 638 disposed at any other arrangement around the knob interface. If the wedge (or other locating feature(s) 638) is fixed, some rotation of the knob will result (as indicated by the double-headed arrow overlaying the knob segment).

[0241] FIG. 7B depicts a top view of the knob interface of FIG. 6E with the cover plate 604 removed. As shown in FIG, 7B, in some embodiments the knob interface can include an arcuate channel 640. The arcuate channel 640 can be formed as recess in the knob interface. The arcuate channel 640 can be shaped to receive at least a portion of the pose lock 216. In some embodiments, the pose lock 216 can extend through the pose lock interface 614 and into the arcuate channel 640 (e.g., the pose lock 216 can extend through the aperture in the cover plate 604). In other examples, the cover plate 604 is formed with a projection in which a blind recess is formed. The blind recess can be configured to receive a portion of the pose lock 216 to restrict motion of the pose lock 216. The portion of the cover plate 604 forming the blind recess can be received in the arcuate channel 640, The arcuate channel 640 can function to provide a clearance channel for the pose lock 216, the cover plate 604 portion forming the blind recess, or both the pose lock 216 and the cover plate 604 portion forming the blind recess as the knob interface rotates relative thereto. As shown in FIG, 7B, the arcuate channel 640 can extend along an arc that is about 180 degrees. In other embodiments, the arcuate channel 640 can extend along a 360-degree arc or along any arc less than 360 degrees, e.g., 270, 225, 135, 90, or 45 degrees.

[0242] In some embodiments, the carriage 600 can include a button actuator 603. As shown in FIG. 6A, the button actuator 603 can be positioned to engage buttons (e.g., lateral buttons) on the handle 206 of the TEE probe assembly 200. The button actuator 603 can be robotically controlled to robotically actuate buttons on the handle 206. The button actuator 603 can extend from the base 601 (e.g., the cover plate 604) of the carriage 600. In some embodiments, the button actuator 603 can include one or more solenoids. Each solenoid can be arranged to actuate a corresponding button on the handle 206 of the TEE probe assembly 200. In other embodiments, the button actuator 603 can include any other suitable actuating mechanism (e.g., linear actuators, rotational actuator, spring actuators). The buttons on the handle 206 can control functions, e.g., ultrasonic functions, of the TEE probe assembly 200 (e.g., controls on the console).

[0243] In some embodiments, the robotic TEE system can include a knob tracking system. In some cases, the knob tracking system is for initially detecting knob position, and in other cases for tracking movement from an initial position as discussed below. The knob tracking system can function to detect, determine, and / or register a position (e.g., rotationalposition) of the knob (e.g., the first knob 208 and / or second knob 210). In some embodiments, based on the detected position of the knob, the knob tracking system can be utilized to confirm that the distal end (e.g., the probe) of the TEE probe assembly 200 is in a specification state (e.g., an undeflected / non-flexed state) before using the robotic TEE system (e.g., before advancing or retracting the probe within the body of a patient). One or more components of the knob tracking system can be coupled to and / or integrated into the carriage 600). The knob tracking system can include one or more sensors and one or more processors (e.g., hardware processors). In some embodiments, the knob tracking system can include one or more hardware processors. In other embodiments, the knob tracking system can utilize one or more processors associated with the robotic TEE system (e.g., processors utilized to perform other functions of the robotic TEE system and / or of the TEE probe assembly 200). The one or more sensors can function to detect and / or sense a position (e.g,, rotational position) of the knob (e.g., of the first knob 208 and / or second knob 210). The one or more sensors can generate a signal related to the position of the knob. The signal can be generated upon, prior to, and / or during insertion of the knob into knob interface. As described below, the knob tracking system can be implemented according to various configurations. Specifically, the knob tracking system can be implemented with various types of sensors arranged in various types of configurations. The one or more sensors can be arranged to detect the one or more indexing features of the knob. As described below, the one or more sensors can include a non-contact sensor (e.g., a reflective optical sensor and / or a camera) and / or a contact sensor (e.g., a spring-loaded contact element, and / or a force sensitive resistor).

[0244] FIG. 8A depicts a top view of an example configuration of the knob tracking system of the robotic TEE system of FIG. 6A. As shown in FIG 8A, the knob tracking system can include a camera 800. The camera 800 can be disposed on a periphery of the knob interface. The camera 800 can be positioned to capture an image of at least a portion of the knob when the probe handle 206 is disposed in the knob interface. Specifically, the camera 800 can be positioned to capture an image of the index feature 212 of the knob at at least one rotational position of the knob. As shown in FIG 8A, the camera 800 can be positioned to capture an image of a side of the knob. As shown in FIG, 8A, the camera 800 can be positioned to capture an image of the proximal side of the knob that is aligned with the longitudinal axis of the TEE probe handle 206. Accordingly, the camera 800 can capture an image of the index feature 212when the index feature 212 is rotationally aligned with the longitudinal axis of the TEE probe handle 206 and disposed on the proximal side of the TEE probe handle 206, which can be a knob position corresponding to neutral flexion of the tip portion of the TEE probe.

[0245] FIG. 8B depicts a top view of the knob tracking system of FIG. 8 A with the handle 206 of the TEE probe assembly 200 inserted into the knob interface. After the handle 206 is inserted, as shown, the camera 800 can image the indexing feature that are oriented proximally relative to the TEE probe assembly 200. FIG. 8C depicts an image of a side of the knob as captured by the camera 800 of FIG. 8A. As shown in FIG. 8C, the knob is positioned such that the index feature 212 with a single projection is not visible to the camera 800. In other embodiments, the camera 800 (or additional cameras) can be positioned in other locations relative to the knob to capture images of at least a portion of the top, bottom, or other region of the knob. FIG. 8D depicts an image of a top side of the knob as captured by another camera (not shown) of the knob tracking system of FIG. 8A, As shown in FIG. 8D, the camera can be positioned to capture an image of the top side of the knob. An advantage of this perspective is that more than one protrusion of the top knob can be seen in the field of view so that the absolute rotational position of the knob can always be detected by a single image. In some cases, a knob tracking system can be provided with a single camera capturing images from the perspective of FIG. 8A. In some cases, a knob tracking system can be provided with a single camera capturing images from the perspective of FIG. 8D. In some cases, a knob tracking system can be provided with a plurality of cameras capturing images from the perspective of FIG. 8A and from the perspective of FIG. 8D.

[0246] FIG. 9 A depicts a schematic view of another example configuration of the knob tracking system of the robotic TEE system of FIG. 6A. In the configuration of FIG. 9A, the knob tracking system can include a camera 800 and a mirror 902. The mirror 902 can be positioned to face the knob. The camera 800 can be positioned to have a viewing angle directed at the mirror 902 such that the camera 800 captures an image of the knob reflected from the mirror 902. As shown in FIG. 9A, the camera 800 can be oriented to have a viewing-angle that is directed substantially perpendicular to the longitudinal axis of the TEE probe handle 206. As shown in FIG. 9A, the viewing direction of the camera 800 can be at least partially offset from a side of the knob. The mirror 902 can be oriented such that the mirror 902 faces the knob and reflects the image towards the viewing angle of the camera 800. In some embodiments,the mirror 902 can be disposed at about a 45-degree angle relative to the viewing direction of the camera 800. The mirror 902 can reflect the image about 90-degrees to the camera 800. In some embodiments, the camera 800 can capture an image reflected from the mirror 902 that shows at least a portion of the first knob 208 and at least a portion of the second knob 210. Accordingly, the rotational position of the first knob 208 and the second knob 210 can be determined by checking for the single projection index feature 212 within the image captured by the camera 800. The camera 800 and the mirror 902 can be arranged to capture an image of a portion of the knob that is aligned with the longitudinal axis of the TEE probe handle 206 and disposed on a proximal side of the TEE probe handle 206 (e.g,, a portion of the knob that is positioned at the 12 o’clock position of the knob as viewed in FIG. 9A). In other embodiments, the knob tracking system of FIG. 9A can be arranged to capture an image of the knob at any location along the circumference of the knob. FIG 9B depicts an image of the knob as captured by the camera 800 of FIG. 9A, As shown in FIG. 9B, a peripheral protrusion of the first knob 208 and a peripheral protrusion of the second knob 210 are visible. The knob is rotationally positioned within FIG. 9B such that neither the single projection index feature 212 of the first knob 208 nor the single projection index feature 212 of the second knob 210 is visible to the camera 800. FIG. 9C depicts another image of the knob as captured by the camera 800 of FIG. 9A. The knob shown in FIG. 9C has been rotated relative to its position in FIG.9B such that the single projection index feature 212 on the second knob 210 is visible to the camera 800. In other variants the indexing features indicating the proper orientation can have different configurations. For example, three protrusions instead of one protrusion could indicate proper alignment. In some embodiments, the relation between knob rotation and displacement and mirror 902 location can be a 1:1 relationship (e.g., a 40-degree turn = 40-degree angular displacement).

[0247] FIG. 10A depicts a schematic view of another example configuration of the knob tracking system of the robotic TEE system of FIG. 6A. In the configuration of FIG. 10A, the knob tracking system can include two cameras (e.g., a first camera (e.g., camera 800) and a second camera 802). Each of the two cameras can be positioned to have different viewing angles of the knob. As shown in FIG. 10A, the first camera 800 and the second camera 802 can be positioned to have viewing angles aligned with two of a plurality of driven features of the knob. In some embodiments, the viewing angles of the two cameras can overlap such thatat least a portion of each of the two images captured by the two cameras corresponds to the same portion of the knob. In some embodiments, the same portion of the knob captured by the two cameras can be a portion of the knob that is aligned with the longitudinal axis of the TEE probe handle 206 and disposed on a distal side of the TEE probe handle 206 (e.g., a portion of the knob that is positioned at the 6 o’clock position of the knob as viewed in FIG. 10A). In other embodiments, the knob tracking system of FIG. 9A can be arranged to capture an image of the knob at any location along the circumference of the knob. In some embodiments, the images from the two cameras can be combined to create a composite image. The configuration of FIG. 10A can advantageously provide a composite image with a wider field-of-view than either of the two cameras can provide individually. Additionally, design constraints may inhibit the placement of a camera 800 directly in line with the longitudinal axis of the probe handle 206. The configuration of FIG. 10 A (and FIG, 9A) can advantageously enable imaging of a portion of the knob aligned with a longitudinal axis of the TEE probe handle 206 with cameras positioned offset from the longitudinal axis of the TEE probe handle 206. The rotational position of the first knob 208 and the second knob 210 can be determined by checking for the single projection index features 212 within the image captured by the cameras. FIG. 10B depicts an image of the knob as captured by the cameras of FIG. 10A. The knob shown in FIG.10B is rotationally positioned such that the index feature 212 of the first knob 208 and the index feature 212 of the second knob 210 are both within the imaged region of the two cameras. FIG. 10C depicts another image of the knob as captured by the cameras of FIG. 10A. The knob shown in FIG 9C has been rotated relative to its position in FIG. 9B such that the single projection index feature 212 of the first knob 208 is not visible and the single projection index feature 212 of the second knob 210 is visible to the cameras. The images of FIGS. 10B and 10C can be composite images wherein the top image shows what is visible from the perspective of the camera 800 on the left-hand side of FIG. 10A and the bottom image shows what is visible from the perspective of the camera 800 on the righthand side of FIG. 10A. In some embodiments, the first camera 800 and the second camera 802 can each be positioned to capture an image of one of the peripheral protrusions on either side of a peripheral protrusion aligned with the longitudinal axis of the handle 206. For example, if a single projection index feature 212 is aligned with the longitudinal axis of the handle 206, the two cameras can capture an image of each of the triple projection index features 212 on either side of the singleprojection index feature 212. In some embodiments, rotational limits of the knob can prevent the knob from being inserted into the knob interface at a rotational position at which the single projection index feature 212 is not visible. Accordingly, the arrangement of the two cameras depicted in FIG. 10A in conjunction with the rotational limits of the knob can ensure that the rotational position of the knob is always ascertainable via the single projection index feature 91

[0248] FIG. 11 depicts another example configuration of the knob tracking system of the robotic TEE system of FIG. 6 A. The knob tracking system of FIG. 11 can include one or more sensors and one or more rotational position markers 1102 (e.g,, a plurality of rotational position markers 1102). The one or more rotational position markers 1102 can function as index features 212. The one or more rotational position markers 1102 can be coupled to the knob (e.g., the first knob 208 and / or the second knob 210) and / or the knob interface. Each rotational position marker can include a unique identifier associated with a particular subset of rotational position markers 1102, e.g,, only one rotational position marker. The one or more rotational position markers 1102 can be disposed around the perimeter of the knob and / or the knob interface. Each rotational position markers 1102 can correspond to a different absolute position (e.g., absolute rotational position) of the knob. Upon initial insertion of the knob into the knob interface, observation of the elongate protrusion index features 212 (e.g., via the one or more sensors) can enable confirmation of the current rotational position of the knob. Upon rotation of the knob, the one or more rotational position markers 1102 can provide an absolute rotational position of the knob. The one or more rotational position markers 1102 can include an ArUco code or other detectable marker (e.g., a QR code or an April tag). In some embodiments, each rotational position marker can provide six degrees of freedom. The one or more sensors (e.g., one or more cameras) can be positioned to detect the rotational position marker. As shown in FIG. 11, one or more cameras can be oriented to view at least one of the plurality of the rotational position markers 1102. The one or more cameras can be arranged as described above with respect to the configurations of FIGS. 8A-10C. Based on the unique identifier of the specific rotational position marker detected by the sensor, an absolute rotational position of the knob can be determined. For example, the camera 800 can capture an image including at least one of a plurality of the rotational position markers 1102. One or more processors can receive the image from the camera and output a signal indicating the absoluterotational position of the knob interface. In some embodiments, at least one rotational position marker can be coupled to each peripheral protrusion of each knob. For example, for a knob with six peripheral protrusions, a total of six rotational position markers 1102 can be coupled to the knob. In some embodiments, an average of more than one rotational position marker per peripheral protrusion can be coupled to the knob to ensure that at least one rotational position marker is always detectable by the one or more sensors

[0249] FIG. 12A depicts a top view of another example configuration of the knob tracking system of the robotic TEE system of FIG. 6A. FIG. 12B depicts a top perspective view of the knob tracking system of FIG, 12A. The configuration shown in FIGS. 12A-12B can include one or more reflective optical sensors 1202 (e.g., ambient light sensors). The one or more reflective optical sensors 1202 can be positioned to detect index features 212 on the outer periphery of the knob. In some embodiments, the reflective optical sensors 1202 can generate signals corresponding to the topography (e.g., height differences) of the knob (see FIGS. 12C-12D). As shown in FIGS. 12A-12B, the reflective optical sensor can be coupled to the knob interface and positioned adjacent to the knob. In some embodiments, to enable detection of the index features 212, the knob can be maintained in a detection position relative to the reflective optical sensor prior to complete insertion of the knob into the knob interface. In some embodiments, the detection position may require the index features 212 to be vertically aligned with (e.g., positioned at about the same height as) the reflective optical sensors 1202. Additionally, in some embodiments, detection of the index features 212 may require relative motion between the index features 212 and the reflective optical sensor. Accordingly, in some embodiments, the knob can be held stationary while the reflective optical sensor moves (e.g., by rotating the knob interface). Alternatively, in other embodiments, the reflective optical sensor can be held stationary while the knob is moved (e.g., by rotating the knob). In some embodiments, the knob can be spaced from (e.g., held in a non-inserted state) relative to the knob interface while the knob interface is rotated relative to the knob. In some embodiments, the knob can be held in this detection position by a human operator. In other embodiments, the robotic TEE system can include a mechanical structure or robotic structure for holding the knob in the detection position. After the position of the index feature has been determined by the reflective optical sensor the knob can be inserted into the knob interface.

[0250] In one embodiment of the configuration of the knob tracking system of FIGS. 12A-12B, the knob tracking system can include a single reflective optical sensor. The single reflective optical sensor can be moved around the circumference of the knob until the index feature is detected by the reflective optical sensor. FIG. 12C depicts a graph of a signal generated by a single reflective optical sensor as the single reflective optical sensor was moved across two protrusions of the knob. As shown in FIG. 12C, the large peaks 1204 correspond to the divots (e.g., concave regions) of the knob disposed between the protrusions. The valleys 1206 correspond to the protrusions of the knob. As shown in FIG. 12C, the leftmost valley 1206 contains a single small peak corresponding to the single bump index feature. The rightmost valley 1206 contains three small peaks corresponding to the triple bump non-index feature. The number of small peaks can be used to differentiate between the index feature and the non-index feature and to thereby determine the rotational position of the index feature,

[0251] In another embodiment of the configuration of the knob tracking system of FIGS. 12A-12B, the knob tracking system can include a plurality of reflective optical sensors 1202. The plurality of reflective optical sensors 1202 can be spaced around a circumference of the knob. The plurality of reflective optical sensors 1202 can be moved within a defined arc length to detect the position of the index feature 212. The defined arc length can be less than the entire circumference of the knob. For example, the knob tracking system can include four reflective optical sensors 1202 spaced at 90-degree increments around the circumference of the knob. The four reflective optical sensors 1202 can rotate back-and-forth by approximately 30 degrees. In other embodiments, the optical sensors can rotate back-and-forth by approximately 40 degrees or any other arc length sufficient to capture an entire peripheral protrusion. In another embodiment, the knob tracking system can include three to six reflective optical sensors 1202. Each reflective optical sensor can be directed toward a protrusion of the knob. The reflective optical sensors 1202 can be wiggled (e.g., swept or rotated back-and-forth) across the defined arc length. The reflective optical sensors 1202 can be swept back and forth across the defined arc length one, two, three, four, or any other number of times. Increasing the number of sweeps can advantageously reduce inaccuracy and / or reduce noise in the detection signal. In other embodiments, the knob tracking system can include two, three, five, or any other number of reflective optical sensors 1202 swept along any sized arc length. FIG 12D depicts a graph of a signal generated by one of the plurality of reflective opticalsensors 1202 as the reflective optical sensor was swept back-and-forth four times across one protrusion of the knob. The signal shown in FIG. 12D corresponds to the single bump index feature 212. As shown in FIG. 12D, the signal profile is similar across each of the four sweeps across the index feature 212. The peaks are a sensor signal feature in the graph that can be used to identify when the feature 212 is in the view of the camera, which can be used to locate a rotational position or orientation of a knob with which the sensor system is coupled.

[0252] In some embodiments, the signal of index feature 212 can be enhanced (e.g., strengthened) by increasing the color contrast between the index feature 212 and surrounding surface of the knob. Enhancement of the index feature 212 can improve detection of the index feature by an ambient light sensor, camera, or other non-contact sensor. FIG. 13 depicts a knob with enhanced index features 1302 on the first knob 208 and the second knob 210. As shown in FIG, 13, the index features 212 can be marked with a dark color (e.g., black) to increase the contrast between the index feature and the relatively light-colored surrounding surface of the knob. In other embodiments, the index features 212 can be marked with a light color (e.g,, white) if the surrounding surface of the knob is a relatively dark color. The enhancement can be made with a color marker, a sticker, paint, a strip of material, or the like. In some embodiments, the enhanced index feature can improve the strength of the detected signal by a multiple of 3.5 to a multiple of 12 compared to a non-enhanced index feature.

[0253] In other embodiments, the signal of the index feature can be enhanced according to various other techniques. For example, in some embodiments of the knob tracking system, the sensor can include a laser (e.g., a non-LED laser). In some embodiments, two reflective sensors can be placed side-by-side and the difference in signal between the two sensors can be taken to remedy ambient lighting and alignment issues. In some embodiments, a narrow viewing window ( e. g., tunnel) can be provided for the sensor to view the index feature through to remove at least a portion of the background noise.

[0254] In another example configuration (not shown), the knob tracking system can include one or more contact sensors. The one or more contact sensors can include a spring- loaded contact, a force sensitive resistor, or any other sensor capable of generating a signal based on contact (e.g., physical contact) with the knob. The one or more contact sensors can generate the signal upon insertion of the knob into the knob interface. The one or more contact sensors can be positioned and arranged to engage (e.g., contact) the outer periphery of theknob. When the contact sensors contact the index feature, the contact sensors can generate a signal corresponding to and identifiable of the index feature.

[0255] As mentioned above, the robotic TEE system can include one or more hardware processors. The one or more hardware processors can perform executable instructions (e.g., computer readable instructions). The one or more hardware processors can be associated with (e.g., mechanically coupled and / or electronically coupled with) the TEE probe assembly 200, the carriage 600, the knob tracking system, and / or any other components of the robotic TEE system. In other embodiments, the one or more hardware processors can be external or remotely located processors that are utilized by the robotic TEE system.

[0256] The one or more hardware processors can receive a signal (e.g., a knob signal) related to a position (e.g., a rotational position) of the knob. In some embodiments, the one or more hardware processors can receive a signal (e.g., a first knob signal) related to a position of the first knob 208 and / or a signal (e.g., a second knob signal) related to a position of the second knob 210. In some embodiments, the one or more hardware processors can receive the signal upon insertion of the knob into the knob interface (e.g., upon insertion of the first knob 208 into the first knob interface and / or upon insertion of the second knob 210 into the second knob interface). The signal related to a position of the knob can be generated (e.g., detected, captured, observed, created) by the one or more sensors associated with the knob tracking system (e.g., any of the sensors discussed above with respect to FIGS. 8A-10). The signal related to a position of the knob can be received at the one or more hardware processors from the one or more sensors.

[0257] The one or more hardware processors can register an initial position of the knob. In some embodiments, the one or more hardware processors can register an initial position of the first knob 208 and / or register an initial position of the second knob 210. In some embodiments, the one or more hardware processors can register the initial position upon insertion of the knob into the knob interface (e.g., upon insertion of the first knob 208 into the first knob interface and / or upon insertion of the second knob 210 into the second knob interface). In some embodiments, the initial position of the knob can correspond to an initial knob signal (e.g., the initial position can be the same position used to generate the initial knob signal). In other embodiments, the initial position may be a different position than the position at which the initial knob signal was generated. For example, after the processor receives theinitial knob signal, the knob may be moved to a different position (e.g., the initial position) prior to registration of the initial position. Registration of the initial position can include recording data corresponding to the initial position to a memory device. The memory’ device can include a short-term memory device, a long-term memory device, or any other device for storing computer readable media. The memory device can include a plurality of memory devices.

[0258] The one or more processors can output a signal to the knob motor to cause a selected amount of rotation of the knob relative to the initial position to change the flexion of the probe tip 204. Flexion of the probe tip 204 can be in a first direction, a second direction, a third direction, or a fourth direction. Each of the first direction, the second direction, the third direction, and the fourth direction can correspond to flexion in an anterior direction, posterior direction, medial direction, or lateral direction. The selected amount of rotation of the knob can correspond to clockwise or counterclockwise rotation of the knob. In some embodiments, the one or more processors can output a signal to the first knob motor 620 to cause a selected amount of rotation of the first knob 208 relative to the initial position of the first knob 208 to change a flexion of the probe tip 204 in a first direction. In some embodiments, the one or more processors can output a second knob motor 624 signal to the second knob motor 624 to cause a selected amount of rotation of the second knob 210 relative to the initial position of the second knob 210 to change a flexion of the probe tip 204 in a second direction. In some embodiments, the one or more processors can engage the knob motor to rotate the knob interface to align a drive feature of the knob interface (e.g., a concave region) with a driven feature of the knob (e.g., a peripheral protrusion) prior to insertion of the knob.

[0259] In some embodiments, the one or more hardware processors can receive a signal related to a linear position of the carriage 600 along the support arm 602. The signal related to a linear position of the carriage 600 along the support arm 602 can be generated (e.g., detected, captured, observed, created) by one or more sensors arranged to detect a linear position of the carriage 600 along the support arm 602. The one or more sensors can include any of the sensor types discussed above with respect to FIGS. 8A-10. The one or more sensors can be coupled to the robotically control receptacle and / or support arm 602 and or located separately. The one or more hardware processors can register an initial linear position of the carriage 600. The one or more hardware processors can output a signal to cause a selectedamount of linear motion of the carriage 600 relative to the initial linear position along the support arm 602. Linear motion can include axial motion of the carriage 600 along the support arm 602 in a proximal or distal direction. For example, the signal output by the one or more processors can cause a selected amount of proximal motion and / or a selected amount of distal motion of the carriage 600.

[0260] In some embodiments, the one or more hardware processors can receive a signal related to linear motion of the carriage 600. In some embodiments, the signal related to linear motion can be a proximal movement signal corresponding to proximal motion of the carriage 600. In some embodiments, the signal related to linear motion can be a distal movement signal corresponding to distal movement of the carriage 600. After receiving the signal related to linear motion of the carriage 600, the one or more processors can permit or cause a reduction in flexion of the probe tip 204 of the catheter 203. For example, the one or more processors can reduce, decrease, or eliminate a torque from being applied to a knob to permit the reduction in flexion of the probe tip 204 of the catheter. The one or more processors can disengage a torque transmission (e.g., using a clutch or solenoid to disconnect the first knob transmission 622 and / or the second knob transmission 626) from the knob motor (e.g., the first knob motor 620 and / or the second knob motor 624) to permit the reduction in flexion of the probe tip 204 of the ca theter 203. The one or more processors can disable the knob motor such that the knob motor does not generate torque to be transmitted to a knob. Disengagement of the torque transmission can occur in response to the one or more hardware processors receiving a proximal movement signal. As another example, the one or more processors can cause (e.g., output a signal to) drive a desired amount of displacement of the probe tip 204 to change the flexion of the probe tip 204 as desired. In this context, flexion can be displacement of the tip from the longitudinal axis of a more proximal portion of the probe. The one or more hardware processors can be configured to cause a displacement of the probe tip 204 of the catheter 203 to reduce the flexion of the probe tip 204. The one or more hardware processors can cause the knob motor to apply a load (e.g., a torque) to the knob interface to cause a reduction in flexion of the probe tip 204 of the catheter 203 (e.g., to change the flexion of the probe tip 204 to an unflexed state). The torque (or other load) can be monitored as part of a control methodology. The torque (or other load) can be limited as part of a safety protocol. In some embodiments, causing the knob motor to apply a torque to the knob interface to cause areduction in flexion of the probe tip 204 of the catheter 203 can occur in response to the one or more hardware processors receiving a distal movement signal.

[0261] In some embodiments, the one or more hardware processors can receive a signal related to a rotational position of the carriage 600 about a rotational axis. The rotational axis can be the rotation axis R-R shown in FIG. 6A. As discussed above, FIGS. 6D-1 to 6D-3 depict the robotically controlled receptable in various rotational positions. The one or more hardware processors can register an initial rotational position of the carriage 600 about the rotational axis. The one or more hardware processors can output a signal to cause a selected amount of rotation of the carriage 600 about the rotational axis. The signal can be output to and received by the probe rotation actuator 634 to cause the movable rotation guide 628 to rotate relative to the first rotation guide 630. The selected amount of rotation can correspond to clockwise or counterclockwise rotation of the carriage 600 about the rotational axis R-R.

[0262] The robotic TEE system can be controlled according to a method of operation. As described above, the robotic TEE system can include a support arm 602 and a carriage 600 supported on the support arm 602. The method can include positioning a handle 206 of a TEE probe assembly 200 such that a knob of the TEE probe assembly 200 is disposed over a knob interface of the carriage 600. The method can include receiving a signal corresponding to a position of the knob upon insertion into the knob interface. The method can include registering an initial position of the knob following insertion of the knob into the knob interface. The method can include outputting a signal to cause rotation of the knob relative to the initial position.

[0263] In some embodiments, the knob can be a first knob 208, and the knob interface can be a first knob interface. As discussed above, the robotic TEE system can further include a second knob 210 and a second knob interface. The method can include receiving a signal related to an initial position of the second knob 210 in the second knob interface upon insertion into the second knob interface. The method can include outputting a signal to cause a selected amount of rotation of the second knob 210 relative to the initial position.

[0264] In some embodiments, the method can include engaging a pose lock interface 614 with a pose lock 216 of the knob. In some embodiments, the method can include reducing or eliminating application of torque to a knob prior to allowing proximal linear motion of the carriage 600 relative to the support arm 602. In some embodiments, the methodcan include applying a torque to the knob interface to deflect a distal tip of the catheter 203 away from a flexed configuration. In some embodiments, the method can include advancing the knob along a locating feature to cause rotation of the knob to enhance alignment of a driven feature of the knob with a drive feature of the knob interface upon engaging the knob with the carriage 600.

[0265] In some embodiments, the signal can be a non-contact signal (e.g., a signal generated by a non-contact sensor). In some embodiments, the method can include generating, with an ambient light sensor, the non-contact signal. In some embodiments, the ambient light sensor is coupled with the knob interface and the signal is received as the knob interface is rotated relative to the knob positioned adjacent thereto.

[0266] In some embodiments, the method can include generating, with a camera, an image comprising the non-contact signal. In some embodiments, the image can be taken from a position aligned with a longitudinal axis of the handle 206 of the TEE probe assembly 200. In some embodiments, the image can be taken from a top side of the knob. In some embodiments, the image can be taken from a position perpendicular to a longitudinal axis of the handle 206 of the TEE probe assembly 200 and captured on a mirror 902. In some embodiments, one or more cameras can generate a first camera 800 image and a second camera 802 image. The first and second camera 802 images can be taken from positions aligned with two of a plurality of driven features of the knob.

[0267] In some embodiments, the method can include receiving an image including at least one of the plurality of the rotational position markers 1102 disposed on the knob interface and outputting a signal indicating an absolute rotational position of the knob interface. In some embodiments, the method can include providing enhanced contrast on at least one driven feature disposed on the periphery of the knob to enhance the signal corresponding to the position of the at least one driven feature. In some embodiments, the signal can be a contact signal (e.g., generated by a contact sensor).V. EXAMPLE SYSTEM AND METHOD FOR ROBOTIC ULTRASOUND PROBE CONTROL

[0268] FIGS. 14-22 illustrate another robotic transesophageal echocardiography (TEE) system 1400. FIG. 14 is a perspective view of the robotic transesophageal echocardiography (TEE) system 1400. The system 1400 can control a movement and / or aposition of an ultrasound transducer, e.g., of the TEE probe tip 204 of the TEE probe assembly 200. The system 1400 depicted in FIGS. 14-22 can include one or more of the features of the system 1000 described above with respect to FIGS. 3A-3B. The system 1400 depicted in FIGS.14-22 can include a carriage 1402 and a motor and transmission assembly. The motor and transmission assembly can be configured to support the carriage 1402 and is sometimes referred to herein as a cradle. A carriage rotation drive system comprises the carriage and a processor configured to drive the motor of the carriage. The carriage can have a base 1404 configured to be supported on the support arm 1002. The carriage can include one or more rollers 1406, e.g., four rollers with two rollers supporting each end of the carriage 1402 at contact points disposed off of a plane including a rotation axis R-R of the carriage 1402, The rollers 1406 can be supported on the carriage equidistant from the plane through the rotational axis R-R. If the bottom of the base 1404 of the carriage is horizontal, the plane would be vertical.

[0269] The system 1400 depicted in FIGS. 14-22 can be coupled with the TEE probe assembly 200 as discussed below. As explained further below, the carriage 1402 is configured to enhance convenience of use and safety of the system 1400 depicted in FIGS. 14- 22. Safety is enhanced in that the TEE probe assembly 200 can be quickly removed from the carriage 1402 through a plurality of access locations 1405, or doors, which are operable even if power is unexpectedly unavailable. Safety is enhanced in that an access location 1405 or door of the plurality of access locations 1405 or doors will always be adjacent to a lateral side of the carriage 1402 where a user is expected to be located rather than a single access location 1405 which may be on the opposite side or facing a blocking structure.

[0270] FIGS. 14-19 depicts perspective views of the carriage 1402. As shown in FIG. 14, the carriage 1402 can include a plurality of panels (e.g., a first panel 1412, a second panel 1414, a third panel 1416, and / or a base 1404 panel 1418), one or more linkage members 1420, and one or more latches 1422. The carriage 1402 can be or can provide a device interface (e.g., a handle interface) for engaging the TEE probe assembly 200. For example, the carriage 1402 can include a probe handle 206 interface 1408. In some embodiments, the carriage 1402 can be rotatably coupled with a support arm of the robotic TEE system 1400. The carriage 1402 can be configured, e.g., dimensioned, to receive the TEE probe handle 206. The carriage 1402 can provide or can be coupled with a unit for motorized control of a movement (e.g.,rotation) of the TEE probe handle 206. Such rotation can be by the mechanical interface of the carriage 1402 to the carriage. As discussed further below, the mechanical interface can include a motor driven transmission element (e.g., drive feature 1410). The carriage 1402 can include an open proximal end 1402a and an open distal end 1402b. The open proximal end 1402a can be opposite to the open distal end 1402b. The openings at the open proximal end 1402a and the open distal end 1402b are enlarged compared to the transverse size of the TEE probe assembly 200, e.g., the diameter of the open proximal end 1402a and / or the open distal end 1402b being 2, 3, or 4 times the width of the TEE probe assembly 200. The enlarged open ends enable the TEE probe assembly 200 to also be removed from the carriage through the openings in an instance where access locations cannot be provided in the carriage 1402, to facilitate rapid transition from robotic to manual operation, further enhancing safety7of the system 1400.

[0271] As shown in FIG. 14, each of the plurality of panels can include longitudinal edges extending from a proximal end 1402a partly defining the open proximal end 1402a of the carriage 1402 to a distal end 1402b partly defining the open distal end 1402b of the carriage 1402. Each panel can extend circumferentially about a space 1403 for receiving the TEE probe. The plurality of panels can collectively enclose the space 1403. As shown in FIG. 14, the plurality of panels can collectively form a substantially annular cylindrical structure. The periphery of the carriage 1402 can comprise a circle in transverse cross-section. With reference to FIG. 14, the carriage 1402 can include at least three panels. In other embodiments, the carriage 1402 can include two, four, five, or any7other number of panels. As shown in FIG. 16, one or more panels of the plurality of panels can move relative to the other panels to open an access location 1405 into the space 1403.

[0272] As shown m FIGS. 14-19 an inner periphery of each panel of the plurality7of panels can include one or more driven features 1424. As discussed in more detail below, the one or more driven features 1424 can engage with one or more drive features 1410 of the motor and transmission assembly to enable rotation of the carriage 1402 about an axis of rotation of the carriage 1402. As shown in FIG. 14, the one or more driven features 1424 can include a contact surface extended along at least a portion of an inner surface of the panels. The contact surface can be smooth such that the driving of the carriage 1402 is performed by frictional engagement of the smooth surface with a transmission roller. The carriage 1402 and thetransmission roller can comprise materials providing sufficient coefficient of friction for well controlled rotation therebetween. The drive features can comprise a surface of a pinch roller, with the other rollers of the carriage pinch-rolling the carriage 1402 as in a pinch roller and capstan arrangement. As shown in FIG. 15, the one or more driven features 1424 can alternatively include one or more teeth disposed on an inner surface of the panels. In other embodiments, the driven features 1424 can include any other suitable structure or mechanism capable of engaging with a corresponding transmission. Additionally, in other embodiments, the driven features 1424 may not be disposed on an inner surface of the panels but may be coupled to other portions of the carriage 1402.

[0273] The one or more linkage members 1420 can couple two adjacent panels together. The linkage members 1420 provide a hinge point for two adjacent panels, and thus is sometimes referred to as a hinge plate. As shown in FIG. 14, each linkage member 1420 can extend along longitudinal edges of the panels. Each linkage member 1420 can be disposed between two adjacent panels. Each linkage member 1420 can extend along at least part of the circumferential perimeter of the space 1403. Each linkage member 1420 can be detachably coupled and / or pivotably coupled with one or more panels. As shown in FIG. 14, the carriage 1402 can include two linkage members 1420. In other embodiments, the carriage 1402 can include zero, one, three, or any other number of linkage members 1420. Similar to the panels, as shown in FIGS. 14-18, an inner periphery of each linkage member 1420 of the one or more linkage members 1420 can include one or more driven features 1424. The one or more driven features 1424 can engage with one or more drive features of a motor transmission. As discussed in more detail below, the one or more driven features 1424 can engage with one or more drive features of the motor and transmission assembly to enable rotation of the carriage 1402 about an axis of rotation of the carriage 1402.

[0274] As shown in FIG. 14, the one or more driven features 1424 can include a contact surface extended along at least a portion of an inner surface of the linkage members 1420. As discussed above, the contact surface can be smooth and rotation over the linkage member 1420 can be provided by the friction between the linkage member 1420 and a transmission roller (e.g., drive feature 1410). As shown in FIG. 15, the one or more driven features 1424 can alternatively include one or more teeth disposed on an inner surface of the linkage members 1420. In other embodiments, the driven features 1424 can include any othersuitable structure or mechanism capable of engaging with a corresponding transmission. Additionally, in other embodiments, the driven features 1424 may not be disposed on an inner surface of the linkage members 1420 but may be coupled to other portions of the carriage 1402.

[0275] The probe handle 206 interface can function to receive the probe handle 206 of the TEE probe assembly 200 and secure the probe handle 206 to the carriage 1402. The probe handle 206 interface can be shaped to conform to the exterior contours of the handle 206 and in some cases can include contours to receive a housing of the handle 206 to which the knobs are mounted. The probe handle 206 interface can include a recess shaped to receive the knob of the handle 206, The probe handle 206 interface can secure the handle 206 to the carriage 1402 to inhibit (e.g., prevent) axial, rotational, or other movement of the handle 206 relative to the carriage 1402. As shown in FIG. 14, the probe handle 206 interface can be coupled to one of the plurality of panels. In some embodiments, the probe handle 206 interface can be coupled to a base 1404 panel. The probe handle 206 interface can be coupled with the carriage 1402 such that the probe handle 206 interface rotates with the carriage 1402. The handle 206 of the TEE probe assembly 200 can be mounted onto the probe handle 206 interface such that the second end of the handle 206 and / or the power and control wire 205 can extend through the open proximal end 1402a of the carriage 1402 and the first end of the handle 206 and / or the power and control wire 205 can extend through the open distal end 1402b of the carriage 1402. The probe handle 206 interface can engage the handle 206 of the TEE probe assembly 200 and rotate with the carriage 1402 about the rotation axis R-R (e.g., an axis extending through the open proximal end 1402a and the open distal end 1402b). When the handle 206 of the Tee probe assembly 200 is coupled with the probe handle 206 interface, the handle 206 can be disposed on the axis R-R.

[0276] With reference to FIGS. 14-15, the motor and transmission assembly can include a motor (not shown) and a transmission. The motor and transmission assembly can function to rotate the carriage 1402 about the rotation axis R-R. The rotation axis R-R can be coaxial with a longitudinal axis of the carriage 1402 and / or a longitudinal axis of the probe handle 206. The transmission can be operatively coupled to and driven by the motor. The transmission can include one or more drive features. The one or more drive features can engage with the one or more driven features 1424 on the carriage 1402 to rotate the carriage 1402 about the rotation axis R-R. The direction of the motor can be reversed to enable clockwiseand counterclockwise rotation of the carriage 1402. As shown in FIG. 14, the drive feature can include a roller. The roller can engage with the contact surface disposed on panel and / or linkage members 1420 to rotate the carriage 1402. The roller can comprise a rubber or other high friction material. As shown in FIG. 15, the drive feature can alternatively include a sprocket or a gear. The sprocket or gear can engage with the teeth on the panels and / or linkage members 1420 to rotate the carriage 1402. In other embodiments, the transmission can include any other suitable drive feature capable of transferring rotational motion to the carriage 1402. For example, in other embodiments, the transmission can include a drive gear and / or pulley and a driven gear and / or pulley, a drive belt, a toothed belt, etc.

[0277] In addition to providing rotation of the TEE probe assembly 200, the carriage 1402 can include actuators to move control elements of the TEE probe assembly. As discussed above, the TEE probe assembly 200 includes knobs 208, 210 that control flexing of the distal portion 202 of the catheter 203. The knobs are configured for manual manipulation but can be manipulated by actuators built into or supported by the probe handle 206 interface. In one example, a motor is coupled to the carriage 1402, e.g., mounted within the probe handle 206 interface to drive one or both of the knobs 208, 210. In another example, a motor is coupled to the carriage 1402, e.g., mounted within the probe handle 206 interface, to drive each of the knobs 208, 210.

[0278] FIGS. 20-22 depict one embodiment of a latch. One or more latches 1422 can be coupled to each panel. Each latch can secure any two panels together. In some cases, each latch can secure three panels together. Each latch can be coupled to an underside of a panel. One or more latches 1422 can be disposed within the thickness of a wall of one or more panels, e.g., one latch in the wall thickness of each panel. In some embodiments, the system 1400 can include a first latch, a second latch, and a third latch. The first latch can be coupled to a first panel 1412, the second latch can be coupled to a second panel 1414, and the third latch can be coupled to a third panel 1416. The latches 1422 can enable adjacent panels to be disengaged from each other to open an access location 1405 into the space 1403. Each latch can include a frame portion 1430, a first pin 1431, a second pin 1432, and an actuator. Each latch can include a frame portion 1430, a first pin 1431, a second pin 1432, a third pin 1433, a fourth pin 1434, and a first actuator 1426, and a second actuator 1427 in some embodiments. The frame portion 1430 can function as a support structure onto which the other latchcomponents are coupled. The first pin and the second pin 1432 can be pivot pins. The third pin 1433 and the fourth pin 1434, if provided, can be locking pins. The first pin can extend between the open distal end 1402b of the carriage 1402 and the open proximal end 1402a of the carriage 1402 through the first panel 1412 of the carriage 1402 to couple with the second panel 1414 of the carriage 1402. In some embodiments, the first pin can couple the first panel 1412 of the carriage 1402 to a first linkage member 1420 disposed between the first panel 1412 and the second panel 1414 (See FIG 14). The first pin can enable pivoting of the first panel 1412 relative to the second panel 1414. The second pin 1432 can extend between the open distal end 1402b and the open proximal end 1402a through the first panel 1412 to couple with the third panel 1416. In some embodiments, the second pin 1432 can be coupled to a linkage member 1420 disposed between the first panel 1412 and the third panel 1416 (See FIG 4). The second pin 1432 can enable pivoting of the first panel 1412 relative to the third panel 1416.

[0279] The third pin 1433 can extend between the open distal end 1402b and the open proximal end 1402a through the first panel 1412 to couple to the second panel 1414, In some embodiments, the third pin 1433 can couple the first panel 1412 of the carriage 1402 to a linkage member 1420 disposed between the first panel 1412 and the second panel 1414. The third pin 1433 can lock the first panel 1412 to the second panel 1414 to prevent pivoting of the first panel 1412 relative to the second panel 1414. The fourth pin 1434 can extend between the open distal end 1402b and the open proximal end 1402a through the first panel 1412 to couple to the third panel 1416. In some embodiments, the fourth pin 1434 can be coupled to a linkage member 1420 disposed between the first panel 1412 and the third panel 1416. The fourth pin 1434 can lock the first panel 1412 to the third panel 1416 to prevent pivoting of the first panel 1412 relative to the third panel 1416.

[0280] The first actuator 1426 and the second actuator 1427 can extend through a panel and extend out of an exterior surface of the panel. The first actuator 1426 and the second actuator 1427 are configured for manual manipulation, and thus are sometimes referred to as latch handles. The first actuator 1426 and the second actuator 1427 can be actuated (e.g., squeezed at two squeeze points) to move the latch between engaged and disengaged configurations to engage or disengage a panel from an adjacent panel. Specifically, each of the first actuator 1426 and the second actuator 1427 can include two squeeze points. The two squeeze points can be biased away from each other when in the engaged configuration. Thetwo squeeze points can be moved towards one another (e.g., squeezed together) to move the latch to the disengage configuration. FIG. 20 is a view of an outside portion of one embodiment of a latch for opening an access location 1405 as illustrated in FIGS. 16-19. FIG. 20 depicts the latch in an engaged configuration. FIG. 21 is a view of an inside portion of the latch of FIG. 20 in an engaged configuration. FIG. 22 is a view of an inside portion of the latch of FIG.20 in a disengaged configuration. In one mode of operation, the first actuator 1426 can be actuated to selectively retract the first pin, the third pin 1433, and the fourth pin 1434 to permit the first panel 1412 to pivot about the second pin 1432 to open a first access location 1405 between the first panel 1412 and the second panel 1414. Actuating the first actuator 1426 decouples the first pin and the third pin 1433 from the second panel 1414 and decouples the fourth pin 1434 from the third panel 1416. In another mode of operation (see FIG. 22), the second actuator 1427 can be actuated to selectively retract the second pin 1432, the third pin 1433, and the fourth pin 1434 to permit the first panel 1412 to pivot about the first pin to open a second access location 1405 between the first panel 1412 and the third panel 1416. Actuating the second actuator 1427 decouples the second pin 1432 and the fourth pin 1434 from the third panel 1416 and decouples the third pin 1433 from the second panel 1414.

[0281] Other latches 1422 coupled to other panels can similarly be operated to open additional access locations between adjacent sets of panels. Following rotation of the carriage 1402 to rotationally position the handle 206 portion and the catheter 203, any one of the latches 1422 can be actuated to open a specific access location 1405. The actuation of the latch allows the panel to pivot from one end, forming a door to create the access location 1405. For example, an access location 1405 most accessible to a user can be opened to permit a handle 206 portion of an ultrasound probe to be removed from the space 1403 of carriage 1402 through the access location 1405. Accordingly, each panel of the plurality of panels can be disengageably engaged with an adjacent panel of the plurality of panels such that an access opening can be provided between any two panels of the plurality of panels. This functionality can advantageously improve the safety of the robotic TEE system 1400. Specifically, this functionality can enable quick release of the TEE probe assembly 200 in an unlocked and preferentially neutral configuration. Such functionality can be especially important in emergency situations such as a power outage or a situation in which the patient needs to be moved quickly, amongst others, as discussed above.

[0282] As shown in FIG. 21, each latch can additionally include one or more springs 1436, one or more slide pins 1438, one or more stoppage pins 1440, and one or more linkage rods 1442. The springs 1436 can bias the latch to the engaged position or configuration. The slide pins 1438 can facilitate lateral movement of the actuators and linkage rods 1442 along the slide pins 1438. The stoppage pins 1440 can constrain lateral movement of the actuators. In some embodiments, the stoppage pins 1440 can be sized to enable retraction of certain pins while other pins remain engaged. The linkage rods 1442 can couple the first actuator 1426 to the second actuator 1427.

[0283] FIG. 15 is a perspective end view of the system 1400 of FIG. 14 with a probe handle 206 interface disposed in an up-facing direction. In the arrangement of FIG. 15, the TEE probe handle 206 can be inserted into the recess of the probe handle 206 interface with knobs of the handle 206 facing downwardly. FIG. 15 depicts the carriage 1402 with all latches 1422 engaged such that the panel are not pivotable relative to one another. FIG. 16 is an end view similar to FIG. 15 with a first panel 1412 rotated to an open configuration to provide an access location 1405 between the first panel 1412 and a second panel 1414 disposed above the probe handle 206 interface. In this instance, the first panel 1412 is a door providing access at an access location 1405. As shown in FIG. 16, the latch can be disengaged to open the access location 1405 on a lateral side of the probe handle 206 interface when the probe handle 206 interface is facing upwardly. FIG. 17 is a view similar to FIG. 16, with the first panel 1412 rotated relative to a third panel 1416 to provide another access location 1405 between the first panel 1412 and the third panel 1416. In this instance, the first panel 1412 is a door pivoting about what was the free end in FIG. 15 providing access at a second access location 1405 for the same panel or door. In some embodiments, the carriage 1402 can include a first latch configured to open the access location 1405 on a lateral side of an axis of rotation of the carriage 1402 when the probe handle 206 interface is facing upwardly and a second latch configured to open the access location 1405 on the same lateral side of the axis of rotation of the carriage 1402 when the probe handle 206 interface is facing downwardly.

[0284] FIG. 18 is a view similar to FIG. 16, with the second panel 1414 rotated relative to a fourth panel to provide an access location 1405 above the probe handle 206 interface and between the second panel 1414 and the fourth panel. As shown in FIG. 18, in some embodiments, the carriage 1402 can include a latch (e.g., third latch) configured to openthe access location 1405 between two adjacent panels above the probe handle 206 interface when the probe handle 206 interface is facing upwardly. FIG. 19 is a view similar to FIG. 16, with the probe handle 206 interface in a downwardly facing position and the fourth panel rotated relative to the second panel 1414 to provide an access location 1405 to the side of a downward facing TEE probe coupled with the probe handle 206 interface. As shown in FIG.19, the latch can be disengaged to open the access location 1405 on a lateral side of the probe handle 206 interface when the probe handle 206 interface is facing downwardly.

[0285] The robotic transesophageal echocardiography (TEE) system 1400 of FIGS.14-22 can be operated according to a method of operation. The method of operation can include providing a carriage 1402 panel assembly comprising a plurality of panels. The method can also include moving one of the panels of the plurality of panels to open a setup access location 1405 between the first panel 1412 and the second panel 1414. The method can also include moving a TEE probe handle 206 through the setup access location 1405 and into a space 1403 defined within the carriage 1402 panel assembly. The method can also include engaging the TEE probe handle 206 with a probe handle 206 interface within the space 1403 defined within the carriage 1402 panel assembly. The method can also include performing imaging of a patient while manipulating the TEE probe handle 206 within the carriage 1402 panel assembly. The method can also include disengaging a latch between any two adjacent panels of the plurality of panels of the carriage 1402 panel assembly to open a removal access location 1405 between the two adjacent panels. Disengaging the latch can be by mechanical means such that the TEE probe handle 206 can be extracted from the carriage 1402 even in a power outage. The TEE probe can be manually actuatable so that the probe can be manipulated even if power to a motor operating rotation of the carriage 1402 (e.g., as part of a robotic positioning system 1400) is unavailable. In some embodiments, the removal access location 1405 and the setup access location 1405 can be provided between the same two adjacent panels. The removal access location 1405 and the setup access location 1405 can be provided between a different set of two adjacent panels. The removal access can be provided between any two of a plurality of panels of the carriage 1402 panel assembly.VI. EXAMPLE CARRIAGE WITH A MAGNETIC LATCH

[0286] FIGS. 23A-23F illustrate another example robotic transesophageal echocardiography (TEE) system 2300. The system 2300 can include a carriage 2302 and a base2301. The system 2300 can include or be configured to receive a handle 206 of a TEE probe assembly 200. The carriage 2302 can include a first body portion 2304, a second body portion 2306, and a handle interface 2308. The first body portion 2304 can be pivotably coupled to the second body portion 2306. The first body portion 2304 can pivot relative to the second body portion 2304 about a pivot axis 2320. As shown in FIGS. 23A-23B, the carriage 2302 can have a clam-shell configuration in which the first body portion 2304 and the second body portion 2306 are hingedly coupled at a first longitudinal edge and are configured to connect along a second longitudinal edge opposite to the first longitudinal edge. The clam-shell configuration comprises an open distal end 2322 and an open proximal end 2320, the open distal end 2322 can provide clearance for a catheter 203 of the TEE probe assembly 200 or a portion of the handle 206 of the TEE probe assembly 200 adjacent to the catheter 203. The open proximal end 2320 can provide clearance for a power and control wire 205 of the TEE probe assembly 200 or a portion of the handle 206 of the TEE probe assembly 200 adjacent to the power and control wire 205. The open proximal end 2320 and / or the open distal end 2322 can each define an oblong periphery allowing the handle 206 of the TEE probe assembly 200 to be removed from the handle interface 2308 when the first body portion 2304 and the second body portion 2306 are positioned together. A long axis of the oblong periphery can be oriented transverse to a location where the first body portion 2304 and the second body portion 2306 engage when the first body portion 2304 and the second body portion 2306 are positioned together (e.g., transverse to planar portions of the first body portion 2304 and the second body portion 2306 that meet when the clam-shell is closed).

[0287] FIG. 23A depicts the carriage 2302 in a closed configuration with the first body portion 2304 and the second body portion 2306 positioned together. When in the closed configuration, the carriage 2302 can enclose the handle interface 2308, and the access path to the handle interface 2308 can be closed. FIG. 23B depicts the carriage 2302 in an open configuration with the first body portion 2304 and the second body portion 2306 moved (e.g., pivoted) apart to provide an access path to the handle interface 2308. The handle interface 2308 can be disposed within a space at least partially bounded by the first body portion 2304 and the second body portion 2306. The handle interface 2308 can receive and / or engage the handle 206 of the TEE probe assembly 200.

[0288] With reference to FIG. 23B, the carriage 2302 can additionally include a first latch component 2310, and / or a second latch component 2312. The first latch component 2310 can be coupled to and moveable with the first body portion 2304. The first latch component 2310 can include an elongate body coupled to the first body portion 2304 and extending along the handle interface 2308 proximal and distal of a knob recess 2309. The second latch component 2312 can be pivotably coupled with the first body portion 2304 and moveable relative to the first body portion 2304. The second latch component 2312 can pivot relative to the first body portion 2310 about the pivot axis 2320. Accordingly, the first body portion 2304 and the second latch component 2312 can pivot about the same pivot axis 2320, In other embodiments, the first body portion 2304 and the second latch component 2312 pivot about different pivot axes. The first latch component 2310 and the second latch component 2312 can extend from a same side of the carriage 2302 along the handle interface 2308. The second latch component 2312 can include a first portion 2314 and a second portion 2316, The first portion 2314 can be pivotably coupled to the first body portion 2304 at a first edge. The second portion 2316 can include a handle contact surface for engaging at least a portion of a surface of the handle 206 of the TEE probe assembly 200 opposite to the knob.

[0289] With reference to FIGS. 23C-23F, the second latch component 2312 can be moved between a first position for constraining the motion of the handle 206 and a second position for allowing disengagement of the handle 206 from the handle interface 2308. FIG.23 C shows the second latch component 2312 in the first position with the handle 206 in the handle interface 2308. When m the first position, the second portion 2316 of the second latch component 2312 engages the handle 206 to constrain motion of the handle 206. FIG. 23E shows the second latch component 2312 in the first position without the handle 206 in the handle interface 2308. FIG. 23F shows a cross-sectional view of the carriage 2302 with the second latch component 2312 in the first position and with the base 2301 omitted for clarity. The second latch component 2312 can be moved (e.g., pivoted) away from the first latch component 2310 to move the second latch component 2312 to the second position. For example, the handle 206 can be moved out of the handle interface 2308 (e.g., in an upwards and / or pivoted away direction) to apply a force to and thereby cause the second latch component 2312 to pivot from the first position to the second position. FIG. 23D shows the carriage 2302 with the second latch component 2312 in the second position. As shown in FIG.23D, with the handle 206 moved away from the position of FIG. 23C which is made possible by the second latch component 2312 being in the second position. In this position, the handle 206 can be moved out of engagement with the handle interface 2308 while the carriage 2302 is in the closed configuration. The second latch component 2312 can be moved from the first position to the second position when the first body portion 2304 and the second body portion 2306 are positioned together. In this respect, the carriage 2302 advantageously enables the handle 206 to be moved, repositioned, and / or removed from knob interfaces of the carriage 2302 w'hile the carriage 2302 is maintained in a closed configuration. This can allow quick disengagement of the TEE probe assembly 200 from motorized drive components that engage the knobs thereof when the handle 206 is seated in the handle interface 2308.

[0290] With reference to FIGS. 23B and 23F, the carriage 2302 can additionally include one or more disengageable connectors. The one or more disengageable connectors can be coupled to and / or positioned between the first latch component 2310 and the second latch component 2312 to hold the second latch component 2312 to the first latch component 2310 when in the first position. The disengageable connectors preferably have a configuration that allows engagement and disengagement by hand and without requiring any tools. The disengageable connectors can enable rapid disengagement of the handle 206 from the handle interface 2308. In some embodiments, the one or more disengageable connectors can include one or more magnets 2318 (e.g., magnetic couplers) disposed adjacent to an interface between the first latch component 2310 and the second latch component 2312. In some embodiments, each of the first latch component 2310 and the second latch component 2312 can include at least one magnet 2318 located proximal to the knob recess 2309 and at least one magnet 2318 located distal to the knob recess 2309. As shown in FIG. 23F, at least one magnet 2318 can be coupled to the first portion 2314 of the second latch component 2312. The one or more magnets 2318 on the first latch component 2310 can magnetically couple to the corresponding one or more magnets 2318 on the second latch component 2312 to hold the second latch component 2312 to the first latch component 2312 when the second latch component 2312 is in the first position. The second latch component 2312 can be moved from the first position to the second position by overcoming the magnetic attraction of the magnets 2318 to separate the second latch component 2312 from the first latch component 2310. In other embodiments, the one or more disengageable connectors may include any other suitable type of connectors, includingbut not limited to a clip, a snap fit connector, a hook and loop fastener, a buckle, an elastic band, or the like.

[0291] The system 2300 can be utilized according to a method of operation. One step of the method can include separating the first body portion 2304 from the second body portion 2306. Another step of the method can include advancing the handle 206 of the TEE probe assembly 200 along an access path defined between the first body portion 2304 and the second body portion 2306. Another step of the method can include engaging the handle 206 with the handle interface 2308 disposed between the first body portion 2304 and the second body portion 2306, such that the knob of the TEE probe assembly 200 is disposed in the knob recess 2309 of the carriage 2302, Another step of the method can include moving the second body portion 2304 and the first body portion 2306 together to close the access path into the handle interface 2308, Another step of the method can include engaging a latch component with a surface of the handle 206 opposite to the knob. Another step of the method can include disengaging the latch component from the surface of the handle 206 while the second body portion 2306 and the first body portion 2304 are moved together to close the access path. Moving the second body portion 2306 and the first body portion 2304 together can include pivoting the first body portion 2304 relative to the second body portion 2306. Pivoting the first body portion 2304 can include simultaneously pivoting the first latch component 2310 and the second latch component 2312 to engage a handle contact portion (e.g., the second portion 2316) of the second latch component 2312 with a surface of the handle 206 opposite to the knob. Engaging the latch component can include providing magnetic attraction from the latch component (e.g., via a magnetic disengageable connector) toward the handle 206 of the TEE probe assembly 200. Another step of the method can include at least partially retracting the knob of the TEE probe assembly 200 from the knob recess 2309 of the carriage 2302 without moving the second body portion 2306 and the first body portion 2304 away from each other to open the access path. The handle 206 of the TEE probe assembly 200 can be moved along the oblong pathway at the open distal end 2322 or the open proximal end 2320 to separate control knobs of the assembly 200 from drive elements in the carriage 2302. Rapid disengagement of the handle 206 from the drive elements assures that the motorized drive elements of the system do not actuate the knobs so that movement thereby is limited or prevented.

[0292] While certain embodiments of the inventions have been described, these embodiments have been presented by way of example only and are not intended to limit the scope of the disclosure. Indeed, the novel methods and systems described herein may be embodied in a variety of other forms. Furthermore, various omissions, substitutions and changes in the systems and methods described herein may be made without departing from the spirit of the disclosure. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the disclosure. Accordingly, the scope of the present inventions is defined only by reference to the appended claims and their equivalents.

[0293] Features, materials, characteristics, or groups described in conjunction with a particular aspect, embodiment, or example are to be understood to be applicable to any other aspect, embodiment or example described in this section or elsewhere in this specification unless incompatible therewith. For example, any feature, aspect, component, and / or method use described with respect to one embodiment of a robotic transesophageal echocardiography (TEE) system or carriage described herein can be incorporated and or used for any of the other embodiments of a robotic transesophageal echocardiography (TEE) system or carriage described herein. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and / or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and / or steps are mutually exclusive. The protection is not restricted to the details of any foregoing embodiments. The protection extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed.

[0294] Furthermore, certain features that are described in this disclosure in the context of separate implementations can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable sub-combination. Moreover, although features may be described above as acting in certain combinations, one or more features from a claimed combination can, in some cases, beexcised from the combination, and the combination may be claimed as a sub-combination or variation of a sub-combination.

[0295] Moreover, while operations may be depicted in the drawings or described in the specification in a particular order, such operations need not be performed in the particular order shown or in sequential order, or that all operations be performed, to achieve desirable results. Other operations that are not depicted or described can be incorporated in the example methods and processes. For example, one or more additional operations can be performed before, after, simultaneously, or between any of the described operations. Further, the operations may be rearranged or reordered in other implementations. Those skilled in the art will appreciate that in some embodiments, the actual steps taken in the processes illustrated and / or disclosed may differ from those shown in the figures. Depending on the embodiment, certain of the steps described above may be removed, others may be added. Furthermore, the features and attributes of the specific embodiments disclosed above may be combined in different ways to form additional embodiments, all of which fall within the scope of the present disclosure. Also, the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described components and systems can generally be integrated together in a single product or packaged into multiple products.

[0296] For purposes of this disclosure, certain aspects, advantages, and novel features are described herein. Not necessarily all such advantages may be achieved in accordance with any particular embodiment. Thus, for example, those skilled in the art will recognize that the disclosure may be embodied or carried out in a manner that achieves one advantage or a group of advantages as taught herein without necessarily achieving other advantages as may be taught or suggested herein.

[0297] Conditional language, such as “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements, and / or steps. Thus, such conditional language is not generally intended to imply that features, elements, and / or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with orwithout user input or prompting, whether these features, elements, and / or steps are included or are to be performed in any particular embodiment.

[0298] Conjunctive language such as the phrase “at least one of X, Y, and Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be either X, Y, or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require the presence of at least one of X, at least one of Y, and at least one of Z.

[0299] Language of degree used herein, such as the terms “approximately,” “about,” “generally,” and “substantially” as used herein represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function or achieves a desired result. For example, the terms “approximately”, “about”, “generally,” and “substantially” may refer to an amount that is within less than 10% of, within less than 5% of, within less than 1 % of, within less than 0, 1% of, and within less than 0,01% of the stated amount. As another example, in certain embodiments, the terms “generally parallel” and “substantially parallel” refer to a value, amount, or characteristic that departs from exactly parallel by less than or equal to 15 degrees, 10 degrees, 5 degrees, 3 degrees, 1 degree, or 0.1 degree.

[0300] The scope of the present disclosure is not intended to be limited by the specific disclosures of preferred embodiments in this section or elsewhere in this specification and may be defined by claims as presented in this section or elsewhere in this specification or as presented in the future. The language of the claims is to be interpreted broadly based on the language employed in the claims and not limited to the examples described m the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive.

[0301] Of course, the foregoing description is that of certain features, aspects, and advantages of the present invention, to which various changes and modifications can be made without departing from the spirit and scope of the present invention. Moreover, the devices described herein need not feature all of the objects, advantages, features and aspects discussed above. Thus, for example, those of skill in the art will recognize that the invention can be embodied or carried out in a manner that achieves or optimizes one advantage or a group of advantages as taught herein without necessarily achieving other objects or advantages as maybe taught or suggested herein. In addition, while a number of variations of the invention have been shown and described in detail, other modifications and methods of use, which are within the scope of this invention, will be readily apparent to those of skill in the art based upon this disclosure. It is contemplated that various combinations or sub-combinations of these specific features and aspects of embodiments may be made and still fall within the scope of the invention. Accordingly, it should be understood that various features and aspects of the disclosed embodiments can be combined with or substituted for one another in order to form varying modes of the discussed apparatuses and methods.

Claims

WHAT IS CLAIMED IS:

1. A robotic transesophageal echocardiography (TEE) system comprising:a carriage comprising a first body portion and a second body portion, the first body portion pivotably coupled to the second body portion to provide an access path to a handle interface disposed within a space at least partially bounded by the first body portion and the second body portion, the handle interface configured to engage a handle of a TEE probe assembly, the first body portion and the second body portion configured to be positioned together to close the access path;a first latch component coupled to the first body portion and moveable therewith; anda second latch component pivotably coupled with the first body portion and moveable relative to the first body portion between a first position for constraining a motion of the handle and a second position for allowing disengagement of the handle from the handle interface;wherein the second latch component is movable from the first position to the second position thereof when the first body portion and the second body portion are positioned together.

2. The robotic TEE system of Claim 1, wherein the carriage comprises a clam-shell configuration in which the first body portion and the second body portion are hingedly coupled at a first longitudinal edge and are configured to connect along a second longitudinal edge opposite to the first longitudinal edge.

3. The robotic TEE system of Claim 2, wherein the clam-shell configuration comprises an open distal end and an open proximal end, the open distal end configured to provide clearance for a catheter of the TEE probe assembly or a portion of the handle of the TEE probe assembly adjacent to the catheter, the open proximal end configured to provide clearance for a power and control wire of the TEE probe assembly or a portion of the handle of the TEE probe assembly adjacent to the power and control wire.

4. The robotic TEE system of any one of Claim 3, wherein at least one of the open proximal end and the open distal end comprises an oblong periphery allowing the handle of the TEE probe assembly to be removed from the handle interface when the first body portion and the second body portion are positioned together.

5. The robotic TEE system of Claim 4, wherein a long axis of the oblong periphery is oriented transverse to a location where the first body portion and the second body portion engage when the first body portion and the second body portion are positioned together to close the access path.

6. The robotic TEE system of any one of Claims 1 to 6, wherein the first latch component comprises an elongate body coupled to the first body portion and extending along the handle interface proximal and distal of a knob recess.

7. The robotic TEE system of Claim 6, wherein the second latch component comprises a first portion pivotably coupled to the first body portion at a first edge and a second portion comprising a handle contact surface configured to engage at least a portion of a surface of the handle of the TEE probe assembly opposite to a control knob thereof.

8. The robotic TEE system of Claim 7, wherein a disengageable connector is provided between the first latch component and the second latch component to hold the second latch component to the first latch component when in the first position,9. The robotic TEE system of Claim 8, wherein the disengageable connector comprises a magnet disposed adjacent to an interface between the first latch component and the second latch component.

10. The robotic TEE system of Claim 8, wherein the disengageable connector comprises a plurality of magnets, at least one magnet located proximal to the knob recess and at least one magnet located distal to the knob recess.

11. A robotic transesophageal echocardiography (TEE) system comprising:a robotically controlled receptacle comprising a handle interface configured to engage a handle of a TEE probe assembly;a first latch component coupled to the robotically controlled receptacle and moveable therewith;a second latch component moveable relative to first latch component between a first position for constraining a motion of the handle and a second position for allowing disengagement of the handle from the handle interface; anda magnetic coupler configured to magnetically hold the second latch component in the first position.

12. The robotic TEE system of Claim 11, wherein the first latch component comprises an elongate body extending along the handle interface proximal and distal of a knob recess.

13. The robotic TEE system of Claim 11 or 12, wherein the second latch component comprises a first portion pivotably coupled to the robotically controlled receptacle at a first edge and a second portion comprising a handle contact portion configured to engage at least a portion of a surface of the handle of the TEE probe assembly opposite to a control knob thereof.

14. The robotic TEE system of any one of Claims 11 to 13, wherein the magnetic coupler comprises a magnet disposed adjacent to an interface between the first latch component and the second latch component.

15. The robotic TEE system of any one of Claims 11 to 14, wherein the magnetic coupler comprises a plurality of magnets, at least one magnet located proximal to a knob recess of the TEE probe assembly and at least one magnet located distal to the knob recess.

16. The robotic TEE system of any one of Claims 11 to 15, wherein the first latch component and the second latch component extend from a same side of the robotically controlled receptacle along the handle interface.

17. A method, comprising:separating a first body portion from a second body portion of a carriage; advancing a handle of a TEE probe assembly along an access path defined between the first body portion and the second body portion;engaging the handle with a handle interface disposed between the first body portion and the second body portion, such that a knob of the TEE probe assembly is disposed in a knob recess of the carriage;providing relative movement between the second body portion and the first body portion to restrict or to close the access path;engaging a latch component with a surface of the handle opposite to the knob; anddisengaging the latch component from the surface of the handle while the access path is restricted or closed.

18. The method of Claim 17, wherein providing relative movement comprises pivoting the first body portion relative to the second body portion, wherein pivoting the first body portion comprises simultaneously pivoting a first latch component and a second latchcomponent to engage a handle contact portion of the second latch component with a surface of the handle opposite to the knob.

19. The method of Claim 17 or 18, wherein engaging the latch component comprises providing magnetic attraction from the latch component toward the handle of the TEE probe assembly.

20. The method of any one of Claims 17 to 19, further comprising at least partially retracting the knob of the TEE probe assembly from the knob recess of the carriage without moving the second body portion and the first body portion away from each other to open the access path.

21. A robotic transesophageal echocardiography (TEE) system comprising:a TEE probe assembly comprising a handle coupled to a proximal end of a catheter, the handle comprising a control knob comprising an outer periphery configured to be manually rotated to control a probe tip of the catheter to flex the probe tip relative to anatomy of a patient;a support arm;a robotically controlled receptacle configured for movement about and / or along the support arm, the robotically controlled receptacle comprising a knob interface configured to engage the outer periphery of the control knob and a knob motor configured to cause a torque to be applied to the control knob through the knob interface; andone or more hardware processors configured to:receive a signal related to a position of the control knob;register an initial position of the control knob upon insertion of the control knob into the knob interface; andoutput a signal to the knob motor to cause a selected amount of rotation of the control knob relative to the initial position to change a flexion of the probe tip in a first direction.

22. The robotic TEE system of Claim 21, wherein the control knob is a first control knob and the handle further comprising a second control knob, the knob interface is a first knob interface and the robotically controlled receptacle comprises a second knob interface, theknob motor is a first knob motor and further comprising a second knob motor, the one or more hardware processors is configured to:receive a second control knob signal related to a position of the second control knob;register an initial position of the second control knob upon insertion of the second control knob into the second knob interface; andoutput a second knob motor signal to the second knob motor to cause a selected amount of rotation of the second control knob relative to the initial position of the second control knob to change a flexion of the probe tip in a second direction.

23. The robotic TEE system of Claim 21 or 22, wherein the one or more hardware processors is configured to:receive a signal related to a linear position of the robotically controlled receptacle along the support arm;register an initial linear position of the robotically controlled receptacle; output a signal to cause a selected amount of linear motion of the robotically controlled receptacle relative to the initial linear position along the support arm;receive a signal related to a rotational position of the robotically controlled receptacle about a rotational axis;register an initial rotational position of the robotically controlled receptacle about the rotational axis; andoutput a signal to cause a selected amount of rotation of the robotically controlled receptacle about the rotational axis.

24. The robotic TEE system of any one of Claims 21 to 23, wherein the one or more hardware processors is configured to receive a signal related to linear motion of the robotically controlled receptacle and to thereafter permit or cause a reduction in flexion of the probe tip of the catheter.

25. The robotic TEE system of Claim 24, wherein the signal related to linear motion comprises a proximal movement signal, the one or more hardware processors configured to decrease or eliminate application of a torque to the knob to permit the reduction in flexion of the probe tip of the catheter.

26. The robotic TEE system of Claim 24, wherein the signal related to linear motion comprises a distal movement signal, the one or more hardware processors configured to cause the knob motor to apply a torque to the knob interface to cause a reduction in flexion of the probe tip of the catheter.

27. The robotic TEE system of Claim 24, wherein the signal related to linear motion comprises a distal movement signal, the one or more hardware processors configured to cause a displacement of the probe tip of the catheter to reduce the flexion of the probe tip.

28. The robotic TEE system of any one of Claims 21 to 27, wherein the TEE probe assembly comprises a pose lock configured to maintain a rotational position of the control knob to maintain a current pose of the probe tip, the robotically controlled receptacle comprises a pose lock interface configured to prevent engagement of the pose lock.

29. The robotic TEE system of any one of Claims 21 to 28, wherein the robotically controlled receptacle further comprises a probe handle interface comprising a recess within which the knob interface is positioned, the recess configured to receive the control knob upon insertion of the control knob into the knob interface.

30. The robotic TEE system of Claim 29, wherein the probe handle interface is configured to constrain axial movement of the handle relative to the robotically controlled receptacle.

31. The robotic TEE system of Claim 29, wherein the probe handle interface is configured to constrain rotational movement of the handle relative to the robotically controlled receptacle.

32. The robotic TEE system of Claim 29, wherein the robotically controlled receptacle includes a retainer configured to hold the handle in the robotically controlled receptacle such that the knob interface of the robotically controlled receptacle remains engaged with the control knob of the TEE probe assembly.

33. The robotic TEE system of any one of Claims 21 to 32, further comprising a locating feature disposed on the robotically controlled receptacle configured to mechanically rotate the control knob to a predefined orientation upon insertion of the control knob into the knob interface.

34. The robotic TEE system of Claim 33, wherein the locating feature comprises a wedge configured to be slidably received in a concavity on the outer periphery of the control knob.

35. The robotic TEE system of any one of Claims 21 to 34, wherein a contour of an inner periphery’ of the knob interface is a negative of at least a portion of a contour of the outer periphery of the control knob.

36. The robotic TEE system of any one of Claims 21 to 35, further comprising a non-contact sensor configured to generate the signal related to the position of the control knob.

37. The robotic TEE system of Claim 36, wherein the non-contact sensor comprises a reflective optical sensor.

38. The robotic TEE system of Claim 37, wherein the non-contact sensor comprises a camera.

39. The robotic TEE system of any one of Claims 21 to 38, further comprising a sensor configured to generate the signal related to the position of the control knob prior to insertion of the control knob into the knob interface.

40. The robotic TEE system of Claim 28, wherein the one or more hardware processors is configured to engage the knob motor to rotate the knob interface to align a drive feature thereof with a driven feature of the control knob prior to insertion of the control knob into the knob interface.

41. The robotic TEE system of any one of Claims 21 to 40, further comprising a plurality of rotational position markers disposed on the knob interface and a camera oriented to view at least one of the plurality of rotational position markers, the one or more hardware processors is configured to:receive an image from the camera including the at least one of the plurality of rotational position markers; andoutput a signal indicating an absolute rotational position of the knob interface corresponding to the at least one of the plurality of rotational position markers included in the image.

42. The robotic TEE system of Claim 41, further comprising a contact sensor configured to generate the signal related to the position of the control knob upon insertion into the knob interface.

43. The robotic TEE system of Claim 42, wherein the contact sensor comprises a spring loaded contact element configured to engage the outer periphery of the control knob.

44. The robotic TEE system of Claim 42, wherein the contact sensor comprises a force sensitive resistor configured to engage the outer periphery of the control knob.

45. A method of controlling a robotic transesophageal echocardiography (TEE) system, the robotic TEE system comprising a support arm and a robotically controlled receptacle supported on the support arm, the method comprising:positioning a handle of a TEE probe assembly such that a control knob of the TEE probe assembly is disposed over a knob interface of the robotically controlled receptacle;receiving a position signal related to a position of the control knob; registering an initial position of the control knob following insertion of the control knob into the knob interface; andoutputting a control signal to cause a selected amount of rotation of the control knob relative to the initial position.

46. The method of Claim 45, wherein the control knob is a first control knob, and the knob interface is a first knob interface, and further comprising a second control knob and a second knob interface, the method further comprising:receiving a second position signal related to a position of the second control knob;registering an initial position of the second control knob following insertion of the second control knob into the second knob interface; andoutputting a second control signal to cause a selected amount of rotation of the second control knob relative to the initial position of the second control knob.

47. The method of Claim 45 or 46, further comprising engaging a pose lock interface with a pose lock of the control knob.

48. The method of any one of Claims 45 to 47, further comprising reducing or eliminating application of torque to the knob interface prior to allowing proximal linear motion of the robotically controlled receptacle relative to the support arm.

49. The method of any one of Claims 45 to 48, further comprising applying a torque to the knob interface to deflect a probe tip of the TEE probe assembly away from a flexed configuration.

50. The method of any one of Claims 45 to 49, further comprising advancing the control knob along a locating feature to cause rotation of the control knob to enhance alignment of a driven feature of the control knob with a drive feature of the knob interface upon engaging the control knob with the robotically controlled receptacle.

51. The method of any one of Claims 45 to 50, wherein the position signal is a noncontact position signal.

52. The method of Claim 51, further comprising generating, with an ambient light sensor, the non-contact position signal,53. The method of Claim 52, wherein the ambient light sensor is coupled with the knob interface and the position signal is received as the knob interface is rotated relative to the control knob positioned adjacent thereto,54. The method of Claim 51, further comprising generating, with a camera, an image comprising the non-contact position signal.

55. The method of Claim 54, wherein the image is taken from a position aligned with a longitudinal axis of the handle of the TEE probe assembly.

56. The method of Claim 54, wherein the image is taken from a top side of the control knob.

57. The method of Claim 54, wherein the image is taken from a position perpendicular to a longitudinal axis of the handle of the TEE probe assembly, the image captured on a mirror.

58. The method of Claim 54, wherein the image is a first camera image and further comprising a second camera image, the first and second camera images taken from positions aligned with two of a plurality of driven features of the control knob.

59. The method of any one of Claims 45 to 58, further comprising receiving an image including at least one of a plurality of rotational position markers disposed on the knob interface and outputting a position signal indicating an absolute rotational position of the knob interface.

60. The method of any one of Claims 45 to 59, further comprising providing enhanced contrast on at least one driven feature disposed on an outer periphery of the control knob to enhance a position signal corresponding to a position of the at least one driven feature.

61. The method of any one of Claims 45 to 60, wherein the position signal is a contact position signal generated by physical contact between a sensor element contacting the control knob.

62. A robotic transesophageal echocardiography (TEE) system comprising:a TEE probe assembly configured for manual operation, the TEE probe assembly comprising a handle having a control dial, a catheter coupled with a first end of the handle, and a power and control wire coupled to a second end of the handle, the second end opposite to the first end; anda carriage configured to be rotatably coupled with a support arm of the robotic TEE system, comprising:an open proximal end through which the second end of the handle or the power and control wire can extend;an open distal end through which the first end or the catheter can extend; a plurality of panels having longitudinal edges extending from a proximal end partly defining the open proximal end to a distal end partly defining the open distal end, each panel of the plurality of panels extending circumferentially about a space for receiving the handle of the TEE probe assembly; anda latch for securing any two panels of the plurality of panels and for opening an access location between the two panels when disengaged.

63. The robotic TEE system of claim 62, wherein the access location extending circumferentially between and extending along the longitudinal edges of two panels of the plurality of panels.

64. The robotic TEE system of claim 62 or 63, wherein the plurality of panels of the carriage comprises four panels.

65. The robotic TEE system of claim 64, wherein further comprising a plurality of latches, each latch connecting two adjacent panels of four panels of the plurality of panels andbeing configured to provide an access location between two adjacent panels can be provided by each latch.

66. The robotic TEE system of any one of Claims 62 to 65, wherein the carriage is configured to rotate about an axis extending through the open proximal end and the open distal end.

67. The robotic TEE system of claim 66, further comprising a probe handle interface disposed in the space, the probe handle interface configured to engage the handle of the TEE probe assembly and to rotate about the axis extending through the open proximal end and the open distal end.

68. The robotic TEE system of claim 67, wherein when the handle of the TEE probe assembly is coupled with the probe handle interface, the handle is disposed on the axis,69. The robotic TEE system of claim 67, wherein the probe handle interface comprises a recess configured to receive the control dial of the TEE probe assembly when the handle is coupled with the probe handle interface.

70. The robotic TEE system of claim 67, wherein the latch is configured to open the access location on a lateral side of the probe handle interface when the probe handle interface is facing downwardly.

71. The robotic TEE system of claim 67, wherein the latch is configured to open the access location on a lateral side of the probe handle interface when the probe handle interface is facing upwardly.

72. The robotic TEE system of claim 67, wherein the latch is a first latch configured to open the access location on a lateral side of an axis of rotation of the carriage when the probe handle interface is facing upwardly and further comprising a second latch configured to open the access location on a same lateral side of the axis of rotation of the carriage when the probe handle interface is facing downwardly.

73. The robotic TEE system of claim 72, further comprising a third latch configured to open the access location between two adjacent panels above the probe handle interface when the probe handle interface is facing upwardly.

74. The robotic TEE system of claim 67, wherein the latch is configured to open the access location between two adjacent panels above the probe handle interface when the probe handle interface is facing upwardly.

75. The robotic TEE system of any one of Claims 62 to 74, wherein the latch comprises a first pm and a second pin, the first pin extending between the open distal end and the open proximal end through a first panel to couple with a second panel, the first pin allowing pivoting of the first panel relative to the second panel, the second pin extending between the open distal end and the open proximal end through the first panel to couple with a third panel, the second pin allowing pivoting of the first panel relative to the third panel, the latch selectively retracting the first pin to permit the first panel to pivot about the second pin to open the access location between the first panel and the second panel, the latch selectively retracting the second pin to permit the first panel to pivot about the first pin to open the access location between the first panel and the third panel.

76. The robotic TEE system of claim 75, wherein the latch comprises a third pin and a fourth pin, the third pin extending between the open distal end and the open proximal end through the first panel to couple to the second panel, the third pin locking the first panel to the second panel to prevent pivoting of the first panel relative to the second panel, the fourth pin extending between the open distal end and the open proximal end through the first panel to couple to the third panel, the fourth pin locking the first panel to the third panel to prevent pivoting of the first panel relative to the third panel, the latch selectively retracting the first pin, the third pin and the fourth pin to permit the first panel to pivot about the second pin to open the access location between the first panel and the second panel, the latch selectively retracting the second pin, the third pin and the fourth pin to permit the first panel to pivot about the first pin to open the access location between the first panel and the third panel.

77. The robotic TEE system of claim 76, wherein the latch comprises a first actuator extending from the first panel, the first actuator configured to retract the first pin and the third pin to decouple the first pin and the third pin from the second panel and to retract the fourth pin to decouple the fourth pin from the third panel, the latch comprising a second actuator extending from the first panel, the second actuator configured to retract the second pin and the fourth pin to decouple the second pin and the fourth pin from the third panel and to retract the third pin to decouple the third pin from the second panel.

78. The robotic TEE system of any one of Claims 62 to 77, wherein an inner periphery of each panel of the plurality of panels comprises a driven feature configured to engage a drivefeature of a motor transmission, the drive feature driving the driven feature to rotate the carriage about an axis of rotation of the carriage.

79. A robotic ultrasound system comprising;a carriage comprising:an open proximal end through which a proximal handle portion or a power and control wire of an ultrasound probe can extend;an open distal end through which a distal handle portion or a catheter of the ultrasound probe can extend;a plurality of panels extending from a proximal end partly defining an open proximal end of the carriage to a distal end partly defining an open distal end of the carriage, each panel of the plurality of panels extending circumferentially about a space for receiving the handle portion of the ultrasound probe;a first latch for opening a first access location between a first adjacent set of two panels of the plurality of panels; anda second latch for opening a second access location between a second adjacent set of two panels of the plurality of panels;wherein a handle portion of an ultrasound probe can be removed from the space of carriage through the first access location or the second access location following rotational of the carriage to rotationally position the handle portion and the catheter.

80. A carriage for robotic positioning of an ultrasound catheter, the carriage comprising: a panel assembly comprising a plurality of panels and a probe handle interface supported within a spaced defined within the plurality of panels, each panel of the plurality of panels being disengageably engaged with an adjacent panel of the plurality of panels such that an access opening can be provided between any two panels of the plurality of panels.

81. The carriage of Claim 80, further comprising a latch coupling three panels of the plurality of panels, the latch being disengageable in a first configuration from a first panel of the three panels to allow to allow access between the first panel and a second panel of the three panels and being disengageable in a second configuration from a third panel of the three panels to allow to allow access between the second panel and the third panel.

82. A method, comprising:providing a carriage panel assembly comprising a plurality of panels, the plurality of panels comprising at least a first panel and a second panel;moving one of the panels of the plurality of panels to open a setup access location between the first panel and the second panel;moving a TEE probe handle through the setup access location and into a space defined within the carriage panel assembly;engaging the TEE probe handle with a probe handle interface within the space defined within the carriage panel assembly;performing imaging of a patient while manipulating the TEE probe handle within the carriage panel assembly; anddisengaging a latch between any two adjacent panels of the plurality of panels of the carriage panel assembly to open a removal access location between the two adjacent panels.

83. The method of Claim 82, wherein the removal access location and the setup access location can be provided between the two adjacent panels.

84. A robotic transesophageal echocardiography (TEE) system comprising:a carriage comprising a base configured to releasably couple with at least a portion of a standard TEE probe handle;a dial interface configured to be mounted on a dial of the standard TEE probe handle; anda carriage transmission element coupled with the carriage to rotate the carriage about an axis aligned with a longitudinal axis of the standard TEE probe handle when the standard TEE probe handle is placed in the carriage;wherein the carriage is configured to manually receive the standard TEE probe handle to facilitate motorized control of manual dials of the standard TEE probe handle.

85. The robotic transesophageal echocardiography (TEE) system of claim 84, wherein the dial interface is a first dial interface and the dial is a first dial, and further comprising a second dial interface configured to engage a second dial of the standard TEE probe handle.

86. The robotic transesophageal echocardiography (TEE) system of claim 85, wherein the second dial interface comprises a clamshell configuration to wrap around the second dial of the standard TEE probe handle.

87. The robotic transesophageal echocardiography (TEE) system of claim 85, wherein the second dial interface comprises an external periphery comprising a groove configured to receive a dial transmission element of a motor coupled with the carriage.

88. The robotic transesophageal echocardiography (TEE) system of any one of Claims 84 to 87, wherein the base comprises a recess configured to receive the dial interface.

89. The robotic transesophageal echocardiography (TEE) system of any one of Claims 84 to 88, wherein the dial interface comprises an interior periphery configured to engage an external periphery of the dial of the standard TEE probe handle.

90. The robotic transesophageal echocardiography (TEE) system of any one of Claims 84 to 89, wherein the dial interface comprises an external periphery comprising a groove configured to receive a dial transmission element of a motor coupled with the carriage.

91. The robotic transesophageal echocardiography (TEE) system of any one of Claims 84 to 90, further comprising a motor and transmission assembly comprising a motor coupled with the carriage, the motor configured to output rotational motion to be transferred to the dial interface by a transmission of the motor and transmission assembly.

92. The robotic transesophageal echocardiography (TEE) system of any one of Claims 84 to 91, wherein the carriage transmission element comprises a plurality of teeth disposed on at least one of the base and a lid configured to be positioned over the base to secure the standard TEE probe handle within a space disposed between the base and the lid.

93. The robotic transesophageal echocardiography (TEE) system of claim 92, wherein the carriage transmission element comprises a first plurality of teeth disposed on a periphery of an end portion of the base and a second plurality of teeth disposed on a periphery of an end portion of the lid.

94. The robotic transesophageal echocardiography (TEE) system of claim 92, wherein the plurality of teeth are disposed in an annular pattern around an inward facing surface of a projection of the base and an inward facing surface of a projection of the lid.

95. The robotic transesophageal echocardiography (TEE) system of any one of Claims 84 to 94, wherein the base comprises a locating feature configured to rotationally align the dial or the dial interface to an initial operating position.

96. The robotic transesophageal echocardiography (TEE) system of claim 95, wherein the locating feature comprises a wedge coupled with an opening into a recess of the base, the recess configured to receive dial when the standard TEE probe handle is coupled with the base.

97. The robotic transesophageal echocardiography (TEE) system of claim 96, wherein the base comprises a wedge fixed configured such that the dial is insertable into the recess in a distal direction, the dial being entirely distal to the locating feature when fully inserted, 98. The robotic transesophageal echocardiography (TEE) system of claim 95, wherein the locating feature is a first locating feature and further comprising a second locating feature opposite the locating feature.

99. The robotic transesophageal echocardiography (TEE) system of any one of Claims 84 to 98, further comprising a cable retainer disposed on one or both ends of the carriage, the cable retainer allowing insertion of a cable or catheter portion at a first angle relative to a longitudinal axis of the carriage and to be retained through the cable retainer when aligned with the longitudinal axis of the carriage.

100. The robotic transesophageal echocardiography (TEE) system of any one of Claims 84 to 99, wherein the carriage transmission element comprises a rack configured to be actuated by a drive element coupled with a motor to cause rotation movement of an arcuate guide coupled with the base.

101. A method, comprising:providing a standard TEE probe assembly having an imaging element disposed at a distal portion and a handle disposed proximal of the distal portion and an electrical connector extending from a proximal portion of the handle, the handle having a dial configured to be rotated to adjust at least one degree of freedom of the distal portion of the TEE probe assembly:advancing a dial interface over the dial of the handle of the standard TEE probe assembly to engage an inner feature of the dial interface with an outer feature of the dial:engaging the dial interface with a transmission of a motor and transmission assembly; andapplying a torque to the dial interface by operation of the motor and transmission assembly.

102. The method of Claim 101, wherein advancing the dial interface comprises moving the dial interface along a rotational axis of the dial until the dial interface is engaged with the dial.

103. The method of Claim 101 or 102, wherein advancing the dial interface comprises opening a periphery of the dial interface, moving the dial transverse to a rotational axis of the dial, and closing the periphery of the dial interface around the dial.

104. The method of any one of Claims 101 to 103, further comprising placing the handle of the standard TEE probe assembly in a carriage after advancing the dial interface over the dial.

105. The method of Claim 104, wherein engaging the dial interface comprises positioning a belt around the dial interface and engaging the belt with a motor of the motor and transmission assembly.

106. The method of Claim 105, wherein the dial interface is a first dial interface, the dial is a first dial, and the motor and transmission assembly are a first motor and transmission assembly, and further comprising advancing a second dial interface over a second dial of the standard TEE probe assembly and thereafter engaging the second dial interface with a second motor and transmission assembly.

107. The method of Claim 106, wherein engaging the first motor and transmission assembly and the second motor and transmission assembly are mounted on a carriage.

108. The method of Claim 107, further comprising moving the carriage to change position or orientation of the distal portion of the standard TEE probe assembly in a patient.

109. The method of Claim 107, further comprising rotating the carriage to rotate the distal portion of the standard TEE probe assembly about a longitudinal axis of the distal portion.

110. The method of Claim 104, further comprising advancing the dial over a locating feature to rotationally align a concave feature of the dial or of the dial interface to place the distal portion of the TEE probe assembly in a selected position.

111. The method of Claim 110, wherein the locating feature comprises a wedge fixed to a base, the dial advancing entirely past the wedge when the handle is fully placed into the carriage.

112. The method of Claim 111, wherein the locating feature comprises a wedge fixed to the base of the carriage and placing the handle of the standard TEE probe assembly in a carriage comprises advancing the dial entirely past the wedge.

113. A probe adapter kit comprising;a first dial interface configured to be mounted on a first dial of a standard TEE probe handle by being advanced along a rotati onal axis of the first dial; anda second dial interface configured to be mounted on a second dial of the standard TEE probe handle by expanding an opening at a periphery of the second dial interface, advancing the second dial interface transverse to a rotational axis of the second dial, and closing the second dial interface around the second dial.

114. A robotic transesophageal echocardiography (TEE) system comprising a robotically controlled carriage configured for movement about and / or along a robot support arm, the robotically controlled carriage comprising a recess configured to receive a control knob of a TEE probe assembly.

115. The robotic TEE system of Claim 114, wherein the robotically controlled carriage comprises a plurality of body portions and a probe handle interface comprising the recess supported within a space defined within the plurality of body portions, at least two body portions of the plurality of body portions being disengageably engaged such that an access opening can be provided between the at least two body portions.

116. The robotic TEE system of Claim 115, further comprising a first latch component coupled to and moveable with a first body portion of the plurality of body portions and a second latch component moveable relative to the first latch component between a first position for constraining motion of a handle of a TEE probe assembly and a second position allowing disengagement of the control knob of the TEE probe assembly from the recess of the robotically controlled carriage.

117. The robotic TEE system of Claim 116, further comprising a magnet coupled with at least one of the first latch component and the second latch component configured to retain the second latch component in the first position.

118. The robotic TEE system of Claim 116, wherein the plurality of body portions comprise a first clam-shell portion and a second clam-shell portion hinged to the first clam¬ shell portion at a first longitudinal edge, the second clam-shell portion configured to be detachably coupled to the first clam-shell portion at a second longitudinal edge, wherein the first latch component and the second latch component are disposed within or adjacent to the space and between the first longitudinal edge and the second longitudinal edge.

119. The robotic TEE system of Claim 118 wherein the space is sized to allow the first latch component to be in the first position or in the second position when the second clamshell portion is coupled to the first clam-shell portion at the second longitudinal edge.

120. The robotic TEE system of Claim 116, wherein the second latch component is pivotable relative to the first body portion about a common axis of rotation of the first body portion.

121. The robotic TEE system of Claim 116, wherein the robotically controlled carriage comprises a first open end and a second open end, at least one of the first open end and the second open end comprises an elongate periphery allowing movement of a handle of a TEE probe assembly such that the control knob of the TEE probe assembly can be disengaged from the recess within which the control knob is disposed when the second latch component in the first position to secure the handle in the robotically controlled carriage.

122. The robotic TEE system of Claim 115, further comprising a magnetic latch configured to secure a handle of a TEE probe assembly in an engaged position in the carriage.

123. The robotic TEE system of Claim 122, wherein the space defined within the plurality of body portions is sized to allow the magnetic latch to disengage from the handle of the TEE probe assembly such that the control knob can be removed from the recess.

124. The robotic TEE system of Claim 115, wherein the plurality of body portions comprises a plurality of panels and further comprising a latch for securing any two panels of the plurality of panels and for opening an access location between the two panels when disengaged.

125. The robotic TEE system of claim 124, wherein the plurality of panels of the robotically controlled carriage comprises three panels.

126. The robotic TEE system of claim 125, further comprising a plurality of latches, each latch connecting two panels of four panels whereby an access location between two adjacent panels can be provided by each latch.

127. The robotic TEE system of claim 126, further comprising a first latch for opening a first access location between a first adjacent set of two panels of the plurality of panels and a second latch for opening a second access location between a second adjacent set of two panels of the plurality of panels.

128. The robotic TEE system of any one of Claims 114 to 127, further comprising:a TEE probe assembly comprising a handle coupled to a proximal end of a catheter, the handle comprising a control knob comprising an outer periphery configured to be manually rotated to control a probe tip of the catheter to flex the probe tip relative to anatomy of a patient;a support arm;the robotically controlled carriage further comprising a knob interface configured to engage the outer periphery of the control knob and a knob motor configured to cause a torque to be applied to the control knob through the knob interface; andone or more hardware processors configured to:receive a signal related to a position of the control knob;register an initial position of the control knob upon insertion of the control knob into the knob interface; andoutput a signal to the knob motor to cause a selected amount of rotation of the control knob relative to the initial position to change a flexion of the probe tip in a first direction.

129. The robotic TEE system of any one of Claims 114 to 128 wherein the TEE probe assembly comprises a standard TEE probe assembly and the carriage is configured to receive a standard probe handle of the standard TEE probe assembly to facilitate motorized control of the knob of the standard TEE probe assembly.

130. The robotic TEE system of Claim 129, further comprising a knob interface configured to be mounted on the knob of the standard TEE probe assembly.

131. A system comprising the robotic TEE system of any one of Claims 114 to 130 and a TEE probe assembly configured for manual operation, the TEE probe assembly comprising a handle having a control knob, a catheter coupled with a first end of the handle, and a power and control wire coupled to a second end of the handle, the second end opposite to the first end, the TEE probe handle and / or the power and control wire configured to extend out of or away from one end of the robotically controlled carriage and the TEE probe handle and / or the catheter configured to extend out of or away from another end of the carriage.

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