In order to solve the problem of shortage of ultrasound doctors in rural areas and heavy workload for current doctors, the Robotic Ultrasound system was developed. It integrates robotics, teleoperation and ultrasound imaging technology. This high-precision robotic system can be tele-operated through the internet which eliminates the restriction of distance. In addition, the large-coverage, ergonomic control method with 6DOF meets the requirements of ultrasound scanning. This device has the potential to break through the limitations of traditional ultrasound scanning and improve the uneven distribution of medical resources and provision.