An imaging probe includes a first nub protruding from an elongate housing in a direction away from the long axis and configured to be grasped by a robot apparatus performing a procedure of the object or subject to position the imaging probe in connection with a region of interest of the subject or object to image the region of interest with the probe. The imaging probe further includes at least one other nub located on and protruding from the elongate housing in a direction away from the long axis and configured to be grasped by a robot apparatus performing the procedure to facilitate grasping the first nub by the robot apparatus.