An ultrasound system comprising: a scanner module comprising: a scanner housing defining a longitudinal axis, the housing comprising a first fastener element; an ultrasound transducer in the scanner housing, the ultrasound transducer defining a central beam axis and comprising a transducer support; a first actuator in the scanner housing and coupled to the ultrasound transducer by way of a coupler and the transducer support, wherein the actuator provides rotation of the transducer support relative to a first axis; a second actuator in the scanner housing, wherein the housing is coupled to the transducer and the second actuator provides rotation of the transducer about a second axis; and an electronics module within the scanner housing; a membrane and a reservoir; and a positioner module comprising a second fastener element; the system operable between a first mode and a second mode, wherein in the first mode, the first and second fastener elements cooperatively couple the scanner module to the positioner module and the central beam axis extends through the membrane; and in the second mode, the scanner module and positioner modules are separate; characterized in that: the second axis is not aligned with the central beam axis of the ultrasound transducer and is offset from the first axis of the first actuator. a scanner module comprising: a scanner housing defining a longitudinal axis, the housing comprising a first fastener element; an ultrasound transducer in the scanner housing, the ultrasound transducer defining a central beam axis and comprising a transducer support; a first actuator in the scanner housing and coupled to the ultrasound transducer by way of a coupler and the transducer support, wherein the actuator provides rotation of the transducer support relative to a first axis; a second actuator in the scanner housing, wherein the housing is coupled to the transducer and the second actuator provides rotation of the transducer about a second axis; and an electronics module within the scanner housing; a scanner housing defining a longitudinal axis, the housing comprising a first fastener element; an ultrasound transducer in the scanner housing, the ultrasound transducer defining a central beam axis and comprising a transducer support; a first actuator in the scanner housing and coupled to the ultrasound transducer by way of a coupler and the transducer support, wherein the actuator provides rotation of the transducer support relative to a first axis; a second actuator in the scanner housing, wherein the housing is coupled to the transducer and the second actuator provides rotation of the transducer about a second axis; and an electronics module within the scanner housing; a membrane and a reservoir; and a positioner module comprising a second fastener element; the system operable between a first mode and a second mode, wherein in the first mode, the first and second fastener elements cooperatively couple the scanner module to the positioner module and the central beam axis extends through the membrane; and in the second mode, the scanner module and positioner modules are separate; characterized in that: the second axis is not aligned with the central beam axis of the ultrasound transducer and is offset from the first axis of the first actuator. in the first mode, the first and second fastener elements cooperatively couple the scanner module to the positioner module and the central beam axis extends through the membrane; and in the second mode, the scanner module and positioner modules are separate; characterized in that: the second axis is not aligned with the central beam axis of the ultrasound transducer and is offset from the first axis of the first actuator.