An actuator (25), a pressing device (53) connected to the actuator (25), sensors (71, 72) for detecting a contact force on the pressing device (53), which are slave manipulators (3), Operated by a position sensing system, a sterile barrier (55), at least one control unit (4) configured to receive information about the sensor and control an actuator (25), and a rave manipulator (3), A slave manipulator (3) including a surgical instrument (70) removably attached to the slave manipulator and separated from the slave manipulator (3) by a sterile barrier (55), the surgical instrument (70) including a frame (52). ), a link (6；7；8；43) articulating with a joint (14；17) to the frame (52) and a tendon proximal fixed to the link (6；7；8；43) A tendon (19) connected to an actuator (25) having a portion (26) and a distal tendon (27) and contacting the proximal tendon (26) for traction on the tendon (19) Transmitting device (54), wherein the transmitting device (54) is constrained by the coupling device to have a single degree of freedom of movement with respect to the frame (52). ) And an elastic device (56) attached to the transmission device (54), whenever the surgical instrument (70) is attached to the slave manipulator: the pressing device (53) comprises a sterile barrier (55). A sensor (71, 72) is releasably and selectively connected to the transmission device (54) for transmitting the pressing action to the transmission device (54) via the pressure device (53) and the transmission device (54). The elastic device (53) urges the transmission device (54) away from the pressing device (53) to detect the contact force between the robot surgery assembly (1) and the pulling action on the tendon (19). ). [Selection diagram] Fig. 10スレーブマニピュレータ（３）であって、アクチュエータ（２５）と、アクチュエータ（２５）に接続された押圧装置（５３）と、押圧装置（５３）上の接触力を検出するセンサ（７１、７２）と、位置検知システムと、無菌バリア（５５）と、センサに関する情報を受信してアクチュエータ（２５）を制御するように構成された少なくとも１つの制御ユニット（４）と、レーブマニピュレータ（３）によって操作され、スレーブマニピュレータに取り外し可能に取り付けられ、無菌バリア（５５）によってスレーブマニピュレータ（３）から分離された手術器具（７０
