Electrosurgical fibroid ablation systems and methods utilize a probe having at least two electrodes to perform bipolar ablation. The probe is inserted into a uterine fibroid so as to enter the fibroid along the major-axis direction of an ellipsoidal fibroid (a direction that is substantially parallel to the uterine wall). Inserting the probe in this direction facilitates ablation of the fibroid with a single probe penetration because the area of ablation tends to progress within a volume having an ellipsoidal shape that is aligned with the ellipsoidal shape of the fibroid. Furthermore, any scar left by the procedure tends to extend in a direction that is parallel to the uterine wall, and thus is less likely to propagate and cause rupture of the uterine wall during pregnancy.