We are developing a system that enables high-quality medical services such as ultrasound imaging to be applied to the conventional remote diagnosis, which has been possible only with interviewing and ocular inspection. Especially, a master-slave robot system is being developed that ultrasonic diagnosis specialist can precisely move the probe in the remote place. In the case of the slave robot, it is designed to be lightweight, compact and hand-held so that it can be easily moved to a remote place. Especially, it is designed to enable 6-degree-of-freedom(DOF) probe motion required for ultrasound imaging with easy integration with existing ultrasound imaging system. In the case of the master device, a parallel robot structure similar to the slave robot was designed to record the 6-DOF motion of the ultrasonic probe. In addition, we developed a hardware codec that enables ultrasound imaging by controlling the slave robot in the Internet environment with tele-communication of video and audio.In this paper, we introduce the results of the recent experiments conducted in the remote sites using the developed robotic ultrasound imaging system. The possibility of remote ultrasound imaging using this tele-robotic system will be discussed.