Robotic surgical assembly (1) comprising a slave manipulator (3), a surgical instrument (70), connectable to said slave manipulator (3), comprising a jointed subassembly (5), wherein said jointed subassembly (5) comprises at least a first link (6), a second link (7) and a third link (8)； and wherein said first link (6) and said second link (7) are associated in a first joint (14) providing a degree of freedom between said first link (6) and said second link (7)； and wherein said second link (7) and said third link (8) are associated in a second joint (17) providing a degree of freedom between said second link (7) and said third link (8)； said surgical instrument (70) comprising at least a tendon (19) for moving a degree of freedom； said tendon (19) comprising a tendon distal portion (27), secured to said third link (8)； and wherein at least one between said first link (6) and said second link (7) comprises at least one tendon contact surface (18) on which said tendon (19) slides remaining in contact with said at least one tendon contact surface (18), defining one or more sliding paths (65) on said at least one tendon contact surface (18)； and wherein the sum of all the sliding paths (65) defines a total winding angle； and wherein in at least one configuration of said jointed subassembly (5), said total winding angle (α+ß) is equal to or greater than 120 degrees.
