A manipulator with two degrees of freedom and a surgical robot pivot a lower arm support (40) under the driving of a second transmission structure (603, 111, 207, 208, 403) so that a telescopic motion will be achieved with respect to a remote-center-of-motion (RCM) (D)； pivot a middle arm support (30) under the driving of a first transmission structure (601, 110, 205, 206, 402) and pivot an instrument assembly in the same way under the action of a first flexible member (401) so that a pivoting motion will be achieved around the RCM (D). Therefore, the manipulator with two degrees of freedom is achieved.
