Devices and methods for three-dimensional internal ultrasound usage

An apparatus for ultrasound procedures, comprising:

• a transducer for emitting and/or receiving ultrasound signals;
• a first and a second motor, wherein the first motor is operatively connected to the transducer so that operation of the first motor turns the transducer around a longitudinal rotation axis, a pivoting mechanism operationally connected to the first motor so that the pivoting mechanism rotates in response to operation of the first motor, the pivoting mechanism having a base and pivoting member that is pivotable with respect to the base around a pivoting axis, the pivoting axis being substantially perpendicular to the longitudinal rotation axis, and a forcing member operationally connected to the pivoting member, wherein a force applied via the forcing member controls pivoting of the pivoting member around the pivoting axis, wherein the second motor is operatively connected to the transducer so that pivoting motion of the transducer around the pivoting axis transverse to the longitudinal rotation axis is a function of the operation of the second motor, wherein the first motor turns a first shaft having a lumen and operatively connected to the transducer, and wherein the second motor operates a second shaft that extends through the lumen of the first shaft and is operatively connected to the transducer, wherein the second motor is a linear motor, and wherein the forcing member comprises the second shaft, the second shaft extending substantially along the rotation axis, wherein operation of the second motor moves the second shaft along the rotation axis, the second shaft being operationally connected to the transducer to control the pivoting of the transducer around the pivoting axis.