Connection device to releasably connect a milling tool (11) for prosthetic surgery and a manipulator device. The connection device comprises a positioning unit (13) configured to receive an attachment unit (11d) of the milling tool (11) and to be connected to the manipulator device to be made to rotate around a milling axis (X). The connection device also comprises an anchoring unit (17), configured to anchor axially and angularly releasably the milling tool (11) to the positioning unit (13). The anchoring unit (17) is configured mobile with respect to the positioning unit (13), axially along said milling axis (X) and angularly around it, to selectively define a condition of complete releasable clamping of the attachment unit (11d) to the positioning unit (13) and a condition of complete detachment.
