A mechanical teleoperated device comprising: a handle placed in a proximal part of the device having a plurality of handle links interconnected by respective handle joints; an end effector placed in a distal part of the device having a plurality of end-effector links interconnected by respective end-effector joints; a transmission system arranged to kinematically connect the end effector to the handle such that movements of the end effector correspond to movements of the handle, comprising: at least one arrangement of a plurality of rotatable elements (41a, 41b, 41c, 4d) coaxially mounted together about a single axis and arranged to rotate independently from each other; first transmission means comprising driving elements (62a, 62b, 62c) which are arranged to actuate in rotation of the plurality of rotatable elements (41a, 41b, 41c) based upon movements of the handle; and second transmission means comprising driven elements (63a, 63b, 63c) which are arranged to be driven by rotation of the plurality of rotatable elements (41a, 41b, 41c) resulting in movement of the end effector links, characterized in that the transmission system is configured for removably coupling together the first and second transmission means wherein each driven element (63a, 63b, 63c) extends axially to be removably coupled to one corresponding rotatable element (41a, 41b, 41c). a handle placed in a proximal part of the device having a plurality of handle links interconnected by respective handle joints; an end effector placed in a distal part of the device having a plurality of end-effector links interconnected by respective end-effector joints; a transmission system arranged to kinematically connect the end effector to the handle such that movements of the end effector correspond to movements of the handle, comprising: at least one arrangement of a plurality of rotatable elements (41a, 41b, 41c, 4d) coaxially mounted together about a single axis and arranged to rotate independently from each other; first transmission means comprising driving elements (62a, 62b, 62c) which are arranged to actuate in rotation of the plurality of rotatable elements (41a, 41b, 41c) based upon movements of the handle; and second transmission means comprising driven elements (63a, 63b, 63c) which are arranged to be driven by rotation of the plurality of rotatable elements (41a, 41b, 41c) resulting in movement of the end effector links, at least one arrangement of a plurality of rotatable elements (41a, 41b, 41c, 4d) coaxially mounted together about a single axis and arranged to rotate independently from each other; first transmission means comprising driving elements (62a, 62b, 62c) which are arranged to actuate in rotation of the plurality of rotatable elements (41a, 41b, 41c) based upon movements of the handle; and second transmission means comprising driven elements (63a, 63b, 63c) which are arranged to be driven by rotation of the plurality of rotatable elements (41a, 41b, 41c) resulting in movement of the end effector links, characterized in that the transmission system is configured for removably coupling together the first and second transmission means wherein each driven element (63a, 63b, 63c) extends axially to be removably coupled to one corresponding rotatable element (41a, 41b, 41c).