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