An elongate ultrasound imaging probe, comprising: an articulating member, including: at least two vertebrae elements sequentially arranged along a long axis of the elongate ultrasound imaging probe; and a plurality of pivots (516, 518) located between the at least two vertebrae elements, each of the plurality of pivots being disposed off-center relative to the at least two vertebrae elements, and, spatially oriented to provide a pivot point for a different articulation direction of a set of different of articulation directions of a vertebra element of the plurality of vertebrae elements; a plurality of guides (520, 522; 520', 522'), including at least one guide for each of the different articulation directions; and an actuator with a set of controls, each control being configured to actuate a different pair of the plurality of guides (520, 522; 520', 522') for controlling opposing articulation directions, the actuator being configured to reduce stress induced in response to the actuator pulling a guide on at least one of a pushed guide or a non-activated guide; characterized in that the actuator further comprises a disc-shaped cam configured to rotate about a rotation axis, the disc-shaped cam including: a first half circle having a first radius and providing a first guide travel distance; and a second opposing half circle having a second radius and providing a second guide travel distance, the first radius being larger than the second radius and the first guide travel distance being greater than the second guide travel distance, the first and second half circles (504, 506) corresponding to first and second halves of the disc-shaped cam, and the second opposing half circle being configured to face the at least two vertebrae elements. an articulating member, including: at least two vertebrae elements sequentially arranged along a long axis of the elongate ultrasound imaging probe; and a plurality of pivots (516, 518) located between the at least two vertebrae elements, each of the plurality of pivots being disposed off-center relative to the at least two vertebrae elements, and, spatially oriented to provide a pivot point for a different articulation direction of a set of different of articulation directions of a vertebra element of the plurality of vertebrae elements; at least two vertebrae elements sequentially arranged along a long axis of the elongate ultrasound imaging probe; and a plurality of pivots (516, 518) located between the at least two vertebrae elements, each of the plurality of pivots being disposed off-center relative to the at least two vertebrae elements, and, spatially oriented to provide a pivot point for a different articulation direction of a set of different of articulation directions of a vertebra element of the plurality of vertebrae elements; a plurality of guides (520, 522; 520', 522'), including at least one guide for each of the different articulation directions; and an actuator with a set of controls, each control being configured to actuate a different pair of the plurality of guides (520, 522; 520', 522') for controlling opposing articulation directions, the actuator being configured to reduce stress induced in response to the actuator pulling a guide on at least one of a pushed guide or a non-activated guide; characterized in that the actuator further comprises a disc-shaped cam configured to rotate about a rotation axis, the disc-shaped cam including: a first half circle having a first radius and providing a first guide travel distance; and a second opposing half circle having a second radius and providing a second guide travel distance, the first radius being larger than the second radius and the first guide travel distance being greater than the second guide travel distance, the first and second half circles (504, 506) corresponding to first and second halves of the disc-shaped cam, and the second opposing half circle being configured to face the at least two vertebrae elements. a first half circle having a first radius and providing a first guide travel distance; and a second opposing half circle having a second radius and providing a second guide travel distance, the first radius being larger than the second radius and the first guide travel distance being greater than the second guide travel distance, the first and second half circles (504, 506) corresponding to first and second halves of the disc-shaped cam, and the second opposing half circle being configured to face the at least two vertebrae elements.