This research paper centers on addressing a common issue faced by clinicians during ultrasound examinations, namely work-related musculoskeletal disorders (WRMSDs). The implementation of robotic ultrasound has the potential to reduce these disorders using teleoperated assistance, collaborative support, or even autonomous systems. In this study, we introduce a new collaborative assisting system specifically designed for ultrasound examinations involving pregnant, obese patients. The primary objective is to devise a transparent co-manipulation strategy that enables clinicians to maintain their natural gestures during the procedure. The key principle behind this approach is to ensure that the robot functions as a helpful tool without interfering with the examination process. To achieve this, a novel co-manipulation control strategy is developed, which involves the computation of a virtual solid’s path based on the operator’s interaction. This approach presents numerous benefits in comparison to conventional control techniques. It demonstrates improvements in terms of accuracy, diminishes task execution time, facilitates a more intuitive parameter adjustment process, and necessitates less exertion of force by the operator. Consequently, it could potentially serve as a viable solution for addressing the challenges faced by sonographers. Hence, the potential benefit of this new co-manipulation method is demonstrated experimentally by comparison with impedance and active compliance control strategies.