Robotic microsurgery assembly (1) comprising at least one master tool (2), suitable to detect a manual command； at least one slave manipulator (3)； at least one surgical instrument (70) operated on by said one slave manipulator (3)； at least one control unit (4) configured to receive at least a first command signal comprising information about said manual command and to send a second command signal to at least one actuator to control said slave manipulator (3)； wherein said surgical instrument comprises at least one jointed subassembly (5)； and wherein said jointed subassembly (5) comprises a first link (6), a second link (7), and a third link (8)； and wherein said first link structural body (9) and said second link structural body (10) comprise at least one tendon contact surface (18), avoiding that said at least one tendon contact surface (18) is a hole surface.
