A manipulator with two degrees of freedom and a surgical robot pivot a lower arm support under the driving of a second transmission structure so that a telescopic motion will be achieved with respect to a remote-center-of-motion (RCM)； pivot a middle arm support under the driving of a first transmission structure and pivot an instrument assembly in the same way under the action of a first flexible member so that a pivoting motion will be achieved around the RCM. Therefore, the manipulator with two degrees of freedom is achieved.
