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However, the TOE operator is required to manually manipulate the probe, often for long periods of time and sometimes in an X\u2010ray environment where there is exposure to ionizing radiation.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>A novel robotic manipulation system for remote control of commercial TOE probes has been developed and tested. The system has four degrees of freedom (DOFs) and is characterized by a kinematic model. The accuracy of the model and the error propagation were analysed.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>The prototype system was shown to exhibit the required function in terms of the mechanical reliability and range of motion. The forward kinematic model can accurately predict the trajectory of the probe tip movement. The average point\u2010to\u2010point errors were 2.60\u2009mm and 3.55\u00b0.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusions<\/jats:title><jats:p>Robotic assistance provided by the proposed system may improve the TOE operating environment. The proposed forward kinematic model can be further employed for automatic control. Copyright \u00a9 2015 John Wiley &amp; Sons, Ltd.<\/jats:p><\/jats:sec>","DOI":"10.1002\/rcs.1691","type":"journal-article","created":{"date-parts":[[2015,7,31]],"date-time":"2015-07-31T11:01:39Z","timestamp":1438340499000},"page":"342-354","source":"Crossref","is-referenced-by-count":21,"title":["Design, testing and modelling of a novel robotic system for trans\u2010oesophageal ultrasound"],"prefix":"10.1002","volume":"12","author":[{"given":"Shuangyi","family":"Wang","sequence":"first","affiliation":[{"name":"Division of Imaging Sciences and Biomedical Engineering King's College London  UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"James","family":"Housden","sequence":"additional","affiliation":[{"name":"Division of Imaging Sciences and Biomedical Engineering King's College London  UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Davinder","family":"Singh","sequence":"additional","affiliation":[{"name":"Xtronics Ltd  Gravesend UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kaspar","family":"Althoefer","sequence":"additional","affiliation":[{"name":"Department of Informatics King's College London  UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kawal","family":"Rhode","sequence":"additional","affiliation":[{"name":"Division of Imaging Sciences and Biomedical Engineering King's College London  UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2015,7,31]]},"reference":[{"key":"e_1_2_7_2_1","volume-title":"The Practice of Clinical Echocardiography","author":"Otto CM","year":"2002"},{"key":"e_1_2_7_3_1","doi-asserted-by":"publisher","DOI":"10.1161\/01.CIR.0000071540.97144.89"},{"key":"e_1_2_7_4_1","first-page":"870","article-title":"BASE\/SCA guidelines for performing a comprehensive intraoperative multiplane transesophageal echocardiography examination: recommendations of the American Society of Echocardiography Council for Intraoperative Echocardiography and the Society of Cardiovascular Anesthesiologists Task Force for Certification in Perioperative Transesophageal Echocardiography","volume":"89","author":"Shanewise JS","year":"1999","journal-title":"Anesth Analges"},{"key":"e_1_2_7_5_1","doi-asserted-by":"publisher","DOI":"10.1213\/00000539-199906000-00004"},{"key":"e_1_2_7_6_1","doi-asserted-by":"publisher","DOI":"10.4103\/0971-9784.53430"},{"key":"e_1_2_7_7_1","doi-asserted-by":"publisher","DOI":"10.1067\/mje.2000.105009"},{"key":"e_1_2_7_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0733-8651(05)70185-5"},{"key":"e_1_2_7_9_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.echo.2014.05.015"},{"key":"e_1_2_7_10_1","volume-title":"The Essential Physics of Medical Imaging","author":"Bushberg JT","year":"2002"},{"key":"e_1_2_7_11_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.2235592100"},{"key":"e_1_2_7_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0002-9149(96)00678-9"},{"key":"e_1_2_7_13_1","doi-asserted-by":"publisher","DOI":"10.1002\/ccd.20201"},{"key":"e_1_2_7_14_1","doi-asserted-by":"crossref","unstructured":"ChunwooK SchaferF DoyoungC et al.Robot for ultrasound\u2010guided prostate imaging and intervention. 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