Multiple concepts were explored early to determine the optimized system architecture that provided the best platform for a simplified workflow and compact design, that would be cost effective to manufacture. Iterative, scaled rapid prototypes were created to assess viability of concepts and compare them to anthropometric data of potential users as well as architectural drawings of typical provider clinics. Once a path was selected, cost-effective white foam models were created to assess usability of the modality, docking and charging, and maneuverability. Overall aesthetics, form, and proportion were also assessed at this stage.