Has your vet checked Esme for knee problems? I know that is quite common in yorkies. My uncle's yorkie had to have minor surgery on one or two of his knees, but of course he is fine now.
I can't recall of Sully ever having this problem. I mean he still might have knee problems one day, I hope not, but my uncle's yorkie (of no relation to Sully) was 6yrs old when he had to have his surgery.
This may not be a knee problem at all, though....I know I'm not much help

I sure hope it's nothing! Sully sends Esme puppy kisses!