A surgical device comprising: a mechanical manipulation mechanism configured for transmitting a first set of control signals and at least one mechanical slave cylinder coupled with the mechanical manipulation mechanism and positioned at a distal end of the surgical device, the at least one mechanical slave cylinder configured for receiving the first set of control signals, wherein the at least one mechanical slave cylinder comprises: a piston configured for responding to the first set of control signals by moving between a proximal end and a distal end of the mechanical slave cylinder and a detachable shaft configured for detachably coupling with a distal end of the piston and for the moving with the piston.
