A system (1) for controlling a transrectal probe, for example a transrectal ultrasound probe for echography, comprises a probe (2) and a structure (3) for supporting the probe (2) that is carried by the wrist (6) of a multi-axis manipulator robot (4). Operatively set between the wrist (6) of the robot (4) and the probe (2) is a load cell (5). The system further comprises an electronic control unit (E) for controlling the robot (4) and a manual-guide device (7, 8) for guiding the robot, which is connected to the electronic control unit (E) of the robot (4) and comprise a manual-guide member (71, 83), which can be manoeuvred by an operator for imparting on the robot (4) movements that are function of the movements imparted on the manual-guide member (71, 83). The electronic control unit (E) of the robot (4) receives signals emitted by the load cell (5) and activates an alarm condition when the load cell (5) signals that a threshold value of the stress detected thereby is exceeded. Preferably, the manual-guide member (71, 83) is pre-arranged for supplying to the operator a haptic feedback, for example of a vibrational type.
