An invasive interventional device or probe for use in an interventional medical procedure includes a control handle operably connected to an imaging system and an insertion tube. The body having an exterior cross-sectional shape and defining an interior with an interior cross-sectional shape. The body is formed with a pair of opposed side panels, a pair of opposed end panels joining opposite ends of the pair of side panels, a top panel disposed over and joined to the pair of side panels and the pair of end panels and a bottom panel located opposite the top panel and joined to the pair of side panels and the pair of end panels with one or more control elements disposed on the body that control the operation of the interventional device. In addition, the exterior cross-sectional shape of the body conforms to a space defined within a hand in a relaxed grip position.