<p>In recent years, robotic ultrasonography has become a vital solution for the ergonomic challenges faced by physicians during ultrasound examinations. The primary aim of such robotic systems is to alleviate the physical strain experienced by physicians, who traditionally encounter uncomfortable postures while handling the ultrasound probe. Commercially available general-purpose robotic systems, when used for sonographic applications, pose safety concerns in terms of their high inertia and power-dependent structural stability. This paper discusses the development of a novel robotic system specifically designed to perform sonography. The low inertia and inherently stable Cartesian design not only reduce the risk of repetitive strain injuries among physicians but also maintain a consistent contact force with the patient's skin, resulting in a stable image acquisition. The device also features an adjustable haptic feedback system that increases in intensity as force exceeds a set threshold, reducing the risk of tissue damage during ultrasonographic procedures. Moreover, experimental results show that integration of visual and tactile feedback is crucial for estimating and applying the correct amount of force.</p>