A mechanical teleoperated surgical system for remote manipulation comprising: - a plurality of movable links; - a plurality of actuable joints (J 1, J 2, J 3, J 4, J 5. J 6, J 7) comprising pivot joints (J 2, J 3, J 5, J 6, J 7) and at least one co-axial joint (J 1, J 4) placed between the movable links, in a serial, parallel or hybrid configuration; - a plurality of driven pulleys (P 2, P 3, P 5, P 6, P 7), each being mounted coaxially with the axis (A 2, A 3, A 5, A 6, A 7) of respective pivot joint (J 2, J 3, J 5, J 6, J 7), wherein each one of said plurality of driven pulleys (P 2, P 3, P 5, P 6, P 7) is adapted for actuating one degree of freedom of the mechanical teleoperated surgical system; - a plurality of driving pulleys (M 1, M 2, M 3, M 4, M 5, M 6, M 7) located outside a patient's body when the mechanical teleoperated surgical system is operating, and - a cable driven mechanical transmission comprising a plurality of closed-loop driving cables (L 1, L 2, L 3, L 4, L 5, L 6, L 7; 20', 20", 30' 30"), each closed-loop driving cable being configured to couple a driving pulley with a corresponding driven pulley characterized in that the mechanical teleoperated surgical system comprises: - one tube (22, 32) per degree of freedom which are concentrically mounted together to be rotatable along the axis of said at least one co-axial joint (J 1, J 4), wherein each tube (22, 32) is actuated in rotation by one of said plurality of closed-loop driving cables (L 1, L 2, L 3, L 4, L 5, L 6, L 7; 20', 20", 30' 30"), and - two proximal pulleys (31, 35) and two distal pulleys (33, 34) which are mounted on the proximal, respectively the distal side of each tube (22, 32) to guide the corresponding cable. - a plurality of movable links; - a plurality of actuable joints (J 1, J 2, J 3, J 4, J 5. J 6, J 7) comprising pivot joints (J 2, J 3, J 5, J 6, J 7) and at least one co-axial joint (J 1, J 4) placed between the movable links, in a serial, parallel or hybrid configuration; - a plurality of driven pulleys (P 2, P 3, P 5, P 6, P 7), each being mounted coaxially with the axis (A 2, A 3, A 5, A 6, A 7) of respective pivot joint (J 2, J 3, J 5, J 6, J 7), wherein each one of said plurality of driven pulleys (P 2, P 3, P 5, P 6, P 7) is adapted for actuating one degree of freedom of the mechanical teleoperated surgical system; - a plurality of driving pulleys (M 1, M 2, M 3, M 4, M 5, M 6, M 7) located outside a patient's body when the mechanical teleoperated surgical system is operating, and - a cable driven mechanical transmission comprising a plurality of closed-loop driving cables (L 1, L 2, L 3, L 4, L 5, L 6, L 7; 20', 20", 30' 30"), each closed-loop driving cable being configured to couple a driving pulley with a corresponding driven pulley characterized in that the mechanical teleoperated surgical system comprises: - one tube (22, 32) per degree of freedom which are concentrically mounted together to be rotatable along the axis of said at least one co-axial joint (J 1, J 4), wherein each tube (22, 32) is actuated in rotation by one of said plurality of closed-loop driving cables (L 1, L 2, L 3, L 4, L 5, L 6, L 7; 20', 20", 30' 30"), and - two proximal pulleys (31, 35) and two distal pulleys (33, 34) which are mounted on the proximal, respectively the distal side of each tube (22, 32) to guide the corresponding cable.