A phased array transducer for an ultrasonic imaging system includes a flexible support element which supports an array of piezoelectric transducer elements. Shape transducers such as strain gauges or capacitive transducers are coupled to the support element to generate a signal indicative of the instantaneously prevailing curvature of the array. A user-controlled actuator is coupled to the support element to flex the support element between at least first and second configurations, wherein the support element has separate curvatures along the axis of the transducer in each of the first and second configurations. In some applications the transducer elements are positioned for separate scan formats in the first and second configurations. The support element can be provided with first and second alternating regions which differ in flexibility, in order to concentrate flexing of the support element in the second regions. In some applications the support element may have a cross-sectional dimension of less than about ten millimeters to facilitate insertion of the transducer into a tortuous vessel of a living subject.