The only risks for HIV in adults are:
1) Having unprotected (no condom) penetrative anal or vaginal sex, OR
2) Sharing IV drug equipment with other IV drug users.
Any bodily fluid like blood and semen does not maintain infectiousness once it is outside of the body. So, blood on objects like the ultrasound probe would not be infectious. A vaginal probe is NOT like penetrating with a penis, at all. You had no risk for HIV.