Having a haptic virtual environment for tele-echography will enable the medical expert with faster adaptation and especially facilitated immersion in what we could call a “virtual echographic examination cabinet”. The innovation of this haptic control is to preserve medical expert proprioception and gesture feelings, which provide the users with indications that are synchronized with the echographic images. In this paper, we will focus on the telegesture module: we will detail several issues and solutions related to this particular problem of tele-robotic scan examination.