This paper addresses the insufficiency of trained echography personnel in developed countries and the need for specialized skill development by introducing a novel 6-DOF parallel Cartesian haptic device for initial sonography training. The proposed mechanism consists of two identical limbs linked by a tool rod with a high-pitched screw for precise vertical actuation. Equipped with a functional sonography probe and a self-rotation mechanism using constant velocity joints, the system enables scanning of body phantoms to simulate pathologies. The direct and inverse kinematics are analyzed to determine the probe’s position and orientation. The developed concept is designed to provide force feedback with values closer to those encountered in real scans while utilizing a structure built from affordable components. These advantages make it particularly appealing compared to existing systems, especially in developing regions.