Place the blueberries, orange rind and juice into a food processor or blender and process to a puree. Strain through a sieve into a bowl or pitcher.
Stir the maple syrup and yogurt together in a large mixing bowl, then fold in fruit puree.
Churn the mixture in an ice cream machine, following the manufacturer's instructions, then freeze for 5-6 hours. If you do not have an ice cream machine, transfer the mixture to a freezerproof container and freeze for 2 hours.
Remove from the freezer, turn out into a bowl, and beat until smooth. Return to the freezer and freeze until firm.