The robot structure (1), in particular for minimally invasive surgery, is provided with a first robot element (10) and a second robot element (14) that can be moved relative to the first robot element, said second robot element having two gripping and/or cutting elements (16) which can be uniformly moved with respect to each other and which are connected to the first robot element (10) via a hinge axis (18). The robot structure (1) further has a force-transmitting device (20) for moving the gripping and/or cutting elements (16) of the movable robot element (14) and at least one sensing element (12) comprising a sensitive end (24) for receiving forces and/or torques that occur on the movable robot element (14) and comprising a base element (26) that is fixed to the first robot element (10). The hinge axis (18) is mounted in a support element (22), and the support element (22) is connected to the sensitive end (24) of each sensing element (12) in order to receive the forces and/or torques that are caused by gripping and/or contact forces on the gripping and/or cutting elements (16). Furthermore, the force-transmitting device (20) is connected to one of the gripping and/or cutting elements (16) via a respective driving element (28) in order to initiate the movement. The driving elements (28) are disposed opposite each other and in a substantially orthogonal manner with respect to the central axis (100) of the robot structure (1) and remain in the orthogonal arrangement with respect to the central axis (100) during the entire moving process of the gripping and/or cutting elements.
