An ultrasonic transducer assembly comprising: an elongated housing that includes a tip portion and a base portion, a longitudinal axis defined by the elongated housing and extending in a longitudinal direction of the elongated housing, a two-dimensional phased array of transducer elements extending in an azimuth dimension and an elevation dimension perpendicular to said azimuth dimension, said two-dimensional phased array of transducer elements disposed with respect to the tip portion of said elongated housing, the two-dimensional phased array of transducer elements configured to transmit and receive sound waves within a three dimensional volumetric region positioned in front of the tip portion in a direction of the longitudinal axis, rotation means for physically rotating said two-dimensional phased array of transducer elements about a rotation axis thereby causing the transducer elements to move through a predetermined field of view, the rotation axis being arranged perpendicular to the longitudinal axis defined by said elongated housing, articulation control means, for controlling articulation of said two-dimensional phased array of transducer elements, relative to said elongated housing, the elongated housing further comprises a flexible intermediate portion disposed between the tip portion and the base portion, wherein the flexible intermediate portion allows the tip portion to move relative to the base portion, and wherein said articulation control means is further adapted to move the tip portion relative to the base portion, wherein the articulation control means is arranged to control articulation of said two-dimensional phased array of transducer elements in a direction that is substantially perpendicular to the longitudinal axis of said elongated housing. an elongated housing that includes a tip portion and a base portion, a longitudinal axis defined by the elongated housing and extending in a longitudinal direction of the elongated housing, a two-dimensional phased array of transducer elements extending in an azimuth dimension and an elevation dimension perpendicular to said azimuth dimension, said two-dimensional phased array of transducer elements disposed with respect to the tip portion of said elongated housing, the two-dimensional phased array of transducer elements configured to transmit and receive sound waves within a three dimensional volumetric region positioned in front of the tip portion in a direction of the longitudinal axis, rotation means for physically rotating said two-dimensional phased array of transducer elements about a rotation axis thereby causing the transducer elements to move through a predetermined field of view, the rotation axis being arranged perpendicular to the longitudinal axis defined by said elongated housing, articulation control means, for controlling articulation of said two-dimensional phased array of transducer elements, relative to said elongated housing, the elongated housing further comprises a flexible intermediate portion disposed between the tip portion and the base portion, wherein the flexible intermediate portion allows the tip portion to move relative to the base portion, and wherein said articulation control means is further adapted to move the tip portion relative to the base portion, wherein the articulation control means is arranged to control articulation of said two-dimensional phased array of transducer elements in a direction that is substantially perpendicular to the longitudinal axis of said elongated housing.