Here is another robot from KUKA that makes life easier for medial professionals. The KUKA LBR Med is available in 7 and 14kg payload variants. As this video shows, it can measure contact force between ultrasound probe and the body, making real-time visualization available to the operator.
The robot’s force sensors are as touch sensitive as a human. The path plan and reactivity are programmable. The system records forced used by the human on the input device and gets the robot to recreate them.