A robotic surgical assembly (1) comprising a slave manipulator (3) is disclosed, wherein the slave manipulator (3) comprises: an actuator (25)； A pushing device (53) connected to the actuator (25)； Sensors (71, 72) for detecting a contact force on the pushing device (53)； Position sensing system； Sterile bulkheads 55； At least one control unit 4 configured to receive information about the sensor to control the actuator 25； actuated by the slave manipulator 3 and operated by the sterilizing barrier wall 55 by the slave manipulator 3. And a surgical instrument (70) detachably attached to the slave manipulator, the surgical instrument (70) comprising: a frame (52)； Links (6； 7； 8； 43) articulated at the joints (14； 17) with respect to the frame (52)； A tendon (19) associated with the actuator (25) and having a tendon distal portion (27) and a tendon proximal portion (26) secured to the links (6； 7； 8； 43)； A transmission device 54 in contact with the tendon proximal portion 26 to exert a traction action on the tendon 19, with a couple of degrees of freedom of movement relative to the frame 52. A transmission device 54, limited by the ring device 93； An elastic device (56) attached to the transmission device (54)； Each time the surgical instrument 70 is attached to the slave manipulator: the pushing device 53 communicates with the transmission device 54 to transmit a pushing action to the transmission device 54 through the sterile septum 55. Releasably and selectively connected； The sensors 71, 72 detect the contact force between the pushing device 53 and the transmission device 54； the elastic device 53 applies the traction action on the tendon 19 to apply the traction action. Bias 54 away from the pushing device 53.슬레이브 매니퓰레이터(slave manipulator, 3)를 포함하는 로봇 수술 조립체(1)가 개시되며, 상기 슬레이브 매니퓰레이터(3)는:액튜에이터(25)； 상기 액튜에이터(25)에 연결된 푸싱 장치(53)； 상기 푸싱 장치(53)상의 접촉력을 검출하는 센서(71, 72)； 위치 감지 시스템； 살균 격벽(55)； 상기 액튜에이터(25)를 제어하도록 상기 센서에 대한 정보를 수신하도록 구성된 적어도 하나의 제어 유닛(4)；상기 슬레이브 매니퓰레이터(3)에
