A hand-operated intracardiac echocardiography (ICE) catheter is described for flexed and rotational steering is described for improved catheter operation, control and less trauma on patients. The disclosed catheter assembly includes ultrasound transducers mounted upon a rotatable tip mounted on a distal end of a flexible elongate shaft. A set of steering lines are controlled by a steering actuator to articulate bidirectionally a distal segment of the catheter. Another steering actuator controls rotation of a torque member that, in turn is coupled to the rotatable tip. A user, through the steering actuators, affects repositioning the ultrasonic transducers by repositioning exposed control surfaces of the steering actuators lengthwise along the housing of the handle.