A minimally invasive surgical apparatus comprising: a manipulator having plurality of manipulating units; a driving arm on which the manipulator is mounted; and a controller for controlling the manipulator and the driving arm, wherein the manipulator comprises: - a surgical space providing unit which provides a surgical space by spacing soft tissue apart from a bone which comprises: -- a supporting portion having a plurality of supporting pieces (111a, 111b, 111c) which are link connected and are configured to bend for keeping the soft tissue apart from the bone; and -- a peeling knife mounted on a free end of the supporting portion to separate the bone and the soft tissue attached to each other, - a scratch forming unit for scratching the bone which comprises: -- a driving portion having a plurality of driving pieces (121a, 121b, 121c) which are link connected by a plurality of driving link connecting portions respectively having an actuator to control a driving bending angle; -- a scratching blade mounted on a free end of the driving portion and adapted to scratch the bone, -- wherein the driving portion is adapted to being driven such that one driving piece is kept fixed for serving as a reference point and that the other driving pieces are repeatedly moving based on one link connecting portion with respect to the driving piece serving as the reference point for scratching the bone. a manipulator having plurality of manipulating units; a driving arm on which the manipulator is mounted; and a controller for controlling the manipulator and the driving arm, wherein the manipulator comprises: - a surgical space providing unit which provides a surgical space by spacing soft tissue apart from a bone which comprises: -- a supporting portion having a plurality of supporting pieces (111a, 111b, 111c) which are link connected and are configured to bend for keeping the soft tissue apart from the bone; and -- a peeling knife mounted on a free end of the supporting portion to separate the bone and the soft tissue attached to each other, - a scratch forming unit for scratching the bone which comprises: -- a driving portion having a plurality of driving pieces (121a, 121b, 121c) which are link connected by a plurality of driving link connecting portions respectively having an actuator to control a driving bending angle; -- a scratching blade mounted on a free end of the driving portion and adapted to scratch the bone, -- wherein the driving portion is adapted to being driven such that one driving piece is kept fixed for serving as a reference point and that the other driving pieces are repeatedly moving based on one link connecting portion with respect to the driving piece serving as the reference point for scratching the bone. - a surgical space providing unit which provides a surgical space by spacing soft tissue apart from a bone which comprises: -- a supporting portion having a plurality of supporting pieces (111a, 111b, 111c) which are link connected and are configured to bend for keeping the soft tissue apart from the bone; and -- a peeling knife mounted on a free end of the supporting portion to separate the bone and the soft tissue attached to each other, -- a supporting portion having a plurality of supporting pieces (111a, 111b, 111c) which are link connected and are configured to bend for keeping the soft tissue apart from the bone; and -- a peeling knife mounted on a free end of the supporting portion to separate the bone and the soft tissue attached to each other, - a scratch forming unit for scratching the bone which comprises: -- a driving portion having a plurality of driving pieces (121a, 121b, 121c) which are link connected by a plurality of driving link connecting portions respectively having an actuator to control a driving bending angle; -- a scratching blade mounted on a free end of the driving portion and adapted to scratch the bone, -- wherein the driving portion is adapted to being driven such that one driving piece is kept fixed for serving as a reference point and that the other driving pieces are repeatedly moving based on one link connecting portion with respect to the driving piece serving as the reference point for scratching the bone. -- a driving portion having a plurality of driving pieces (121a, 121b, 121c) which are link connected by a plurality of driving link connecting portions respectively having an actuator to control a driving bending angle; -- a scratching blade mounted on a free end of the driving portion and adapted to scratch the bone, -- wherein the driving portion is adapted to being driven such that one driving piece is kept fixed for serving as a reference point and that the other driving pieces are repeatedly moving based on one link connecting portion with respect to the driving piece serving as the reference point for scratching the bone.