An ultrasound imaging probe includes a body portion having a rigid section defining at least part of a cavity a first electromechanical actuator located in the body portion a second electromechanical actuator located in the body portion a flexible portion coupled to the body portion, the flexible portion comprising a plurality of articulating elements a distal part coupled to the flexible portion and defining at least another part of the cavity and an ultrasonic sensor array situated in the distal part,
