You can find this in I, Robot, The Complete Robot and Robot Visions.
The first full Susan Calvin, Robopsychologist, story is about a mind reading robot. Susan is called into action to try to find out what went wrong when it was made, but the robot gets to read her mind and things go off on a bit of a tangent.
A good little story exploring how reading human minds may conflict with the three laws.
And the next robot story is Satisfaction Guaranteed
