An ultrasound probing device including: a box a locating mechanism to provide a position of the box in relation to a reference frame associated with an object to be examined a mechanism to determine a delay law based on focusing parameters, representing a desired position of a focal point in relation to a reference frame associated with the box a controller to provide control signals based on the delay law transducers attached to the box, to receive control signals and, in response, to transmit ultrasonic waves in the object respectively delayed according to the delay law to focus at the focal point defined by the focusing parameters and a mechanism updating the focusing parameters based on predefined associations between positions on a desired path of the box in relation to the reference frame associated with the object and corresponding focusing parameter values and the position of the box.
