In a parallel universe, Deanna Troi was the counsellor of the USS Enterprise-D during the 24th century. It was a job she was particularly suited for, because being half-Betazoid, she was capable of ESP and therefore was able to scan others to determine their true intentions or mental states.
When the Eleventh Doctor, Amy Pond and Rory Williams arrived on the Enterprise in 2368, she scanned their minds when prompted by Capt. Picard and found that Amy and Rory were slightly nervous but completely trusting of the Doctor. She sensed wisdom beyond his years and sadness in the Doctor, but no ill intent. She also sensed that Amy and Rory were protective of the Doctor, and when she brought it up with them, it resulted in them confiding in her about the nature of their relationship as his companions. (COMIC: Assimilation²)