A system and method provide haptic feedback with respect to the maneuvering of a distal tip at a distal end of a transesophageal echocardiogram (TEE) ultrasound transducer probe deployed in a patient. An acoustic imaging system is connected to the TEE ultrasound transducer probe and produces acoustic images in response to one or more signals from the TEE ultrasound transducer probe. A control apparatus is provided for maneuvering the distal tip of the TEE ultrasound transducer probe with respect to the patient. A contact force sensing device senses a contact force between the distal tip of the TEE ultrasound transducer probe and the patient, and a feedback mechanism provides tactile, audio, and/or visual feedback when the contact force between the distal tip of the TEE ultrasound transducer probe and the patient exceeds a threshold force.
