An ultrasound device, comprising: a probe including a tube, ultrasonic transducers on a distal end of the tube, and mechanical joints; at least one electronic processor; and at least one memory storing computer-readable instructions; the at least one memory and the computer-readable instructions configured to, with the at least one electronic processor, cause the probe to steer to a target by an iterative process in which each iteration includes: acquiring an ultrasound image using the ultrasound transducers; and at least one of: (i) adjusting an electronic beam steering of the ultrasonic transducers according to the ultrasound image, and (ii) adjusting the mechanical joints of the probe according to the ultrasound image; wherein the at least one electronic processor is configured to execute the computer-readable instructions to cause the US device to: (i) either store at least one reference ultrasound image created by the ultrasonic transducers; and in the iteration, compare the ultrasound image with the at least one reference ultrasound image to determine if the target is in the FOV; or (ii) cause the US device to use reference images of a database to determine if the target is in the FOV, wherein the US device further comprises said database of reference images; wherein the at least one electronic processor is configured to execute the computer-readable instructions to cause the US device to, in the iteration: if the target is in a field of view of the ultrasound image, adjusting only the electronic beam steering of the ultrasonic transducers; if the target is at an edge of the FOV of the ultrasound image, adjusting both the electronic beam steering of the ultrasonic transducers and the mechanical joints of the probe; and if the target is not in the FOV of the ultrasound image, adjusting at least the mechanical joints of the probe. a probe including a tube, ultrasonic transducers on a distal end of the tube, and mechanical joints; at least one electronic processor; and at least one memory storing computer-readable instructions; the at least one memory and the computer-readable instructions configured to, with the at least one electronic processor, cause the probe to steer to a target by an iterative process in which each iteration includes: acquiring an ultrasound image using the ultrasound transducers; and at least one of: (i) adjusting an electronic beam steering of the ultrasonic transducers according to the ultrasound image, and (ii) adjusting the mechanical joints of the probe according to the ultrasound image; acquiring an ultrasound image using the ultrasound transducers; and at least one of: (i) adjusting an electronic beam steering of the ultrasonic transducers according to the ultrasound image, and (ii) adjusting the mechanical joints of the probe according to the ultrasound image; wherein the at least one electronic processor is configured to execute the computer-readable instructions to cause the US device to: (i) either store at least one reference ultrasound image created by the ultrasonic transducers; and in the iteration, compare the ultrasound image with the at least one reference ultrasound image to determine if the target is in the FOV; or (ii) cause the US device to use reference images of a database to determine if the target is in the FOV, wherein the US device further comprises said database of reference images; (i) either store at least one reference ultrasound image created by the ultrasonic transducers; and in the iteration, compare the ultrasound image with the at least one reference ultrasound image to determine if the target is in the FOV; or (ii) cause the US device to use reference images of a database to determine if the target is in the FOV, wherein the US device further comprises said database of reference images; wherein the at least one electronic processor is configured to execute the computer-readable instructions to cause the US device to, in the iteration: if the target is in a field of view of the ultrasound image, adjusting only the electronic beam steering of the ultrasonic transducers; if the target is at an edge of the FOV of the ultrasound image, adjusting both the electronic beam steering of the ultrasonic transducers and the mechanical joints of the probe; and if the target is not in the FOV of the ultrasound image, adjusting at least the mechanical joints of the probe. if the target is in a field of view of the ultrasound image, adjusting only the electronic beam steering of the ultrasonic transducers; if the target is at an edge of the FOV of the ultrasound image, adjusting both the electronic beam steering of the ultrasonic transducers and the mechanical joints of the probe; and if the target is not in the FOV of the ultrasound image, adjusting at least the mechanical joints of the probe.