Manipulator comprising: - a control unit, having a handle adapted to be held in one hand, - at least one control member (4a-4d), mounted on the handle, and adapted to be loaded by at least one finger of the hand holding the handle, - a connecting arm, extending along an arm longitudinal axis (I-I), having a proximal end in which the control unit is mounted, and having a distal end, - a working unit, mounted on the distal end of the connecting arm, including a tool support adapted to support a tool, and actuated by said at least one control member (4a-4d), - the handle being elongate along a longitudinal axis of the handle (IV-IV) and being configured to be held in the palm of the hand with the thumb opposed to the other fingers to surround its lateral surface in a holding section, - the handle being articulated, in the control unit, with at least one degree of freedom in rotation about a first articulation axis transverse with respect to its longitudinal axis of the handle (IV-IV), - the first articulation axis of the handle being in an intermediate position along the longitudinal axis of the handle (IV-IV), with the result that the holding section extends either side of the first articulation axis of the handle, - the first articulation axis intersecting the longitudinal axis (I-I) of the connecting arm, - the longitudinal axis of the handle (IV-IV) intersects the longitudinal axis (I-I) of the connecting arm, - the handle is fixed against axial rotation about its longitudinal axis (IV-IV) with respect to the control unit, - the manipulator is devoid of any direct or indirect coupling means between the relative movements of the handle with respect to the control unit and the relative movements of the tool support and of the tool with respect to the connecting arm, - the relative movements of the tool support and of the tool with respect to the connecting arm are produced by actuators accommodated in a control body of the control unit and controlled by said at least one control member (4a-4d). - a control unit, having a handle adapted to be held in one hand, - at least one control member (4a-4d), mounted on the handle, and adapted to be loaded by at least one finger of the hand holding the handle, - a connecting arm, extending along an arm longitudinal axis (I-I), having a proximal end in which the control unit is mounted, and having a distal end, - a working unit, mounted on the distal end of the connecting arm, including a tool support adapted to support a tool, and actuated by said at least one control member (4a-4d), - the handle being elongate along a longitudinal axis of the handle (IV-IV) and being configured to be held in the palm of the hand with the thumb opposed to the other fingers to surround its lateral surface in a holding section, - the handle being articulated, in the control unit, with at least one degree of freedom in rotation about a first articulation axis transverse with respect to its longitudinal axis of the handle (IV-IV), - the first articulation axis of the handle being in an intermediate position along the longitudinal axis of the handle (IV-IV), with the result that the holding section extends either side of the first articulation axis of the handle, - the first articulation axis intersecting the longitudinal axis (I-I) of the connecting arm, - the longitudinal axis of the handle (IV-IV) intersects the longitudinal axis (I-I) of the connecting arm, - the handle is fixed against axial rotation about its longitudinal axis (IV-IV) with respect to the control unit, - the manipulator is devoid of any direct or indirect coupling means between the relative movements of the handle with respect to the control unit and the relative movements of the tool support and of the tool with respect to the connecting arm, - the relative movements of the tool support and of the tool with respect to the connecting arm are produced by actuators accommodated in a control body of the control unit and controlled by said at least one control member (4a-4d).