Intensive multidisciplinary research work has been carried out by several research teams, to improve every part of the tele-echography system. More recently, the efficiency of the diagnosis has also been proved, emphasizing the interest in the concept. Various conception approaches have been explored, for instance, to the robot design, according to the targeted usage. The design of a universal usage system is, however, very challenging owing to the constraints specification described in this chapter. Nevertheless, to date, the lightweight body-mounted robot design approach tends to satisfy the general use requirements. Improvement of the robot control has also permitted this kind of approach. Improvements to the other part of the teleoperation equipment have allowed the setting up in France of a medical center network equipped with on-duty tele-echography systems for real-time routine examination.