A mechanical teleoperated device (5a, 5b) for remote manipulation comprising: - a slave unit having a number of slave links (11, 12, 13, 14) interconnected by a plurality of slave joints (16, 17, 18, 19); - an end-effector connected to the distal end of the slave unit; - a master unit having a corresponding number of master links (21, 22, 23, 24) interconnected by a plurality of master joints (26, 27, 28, 29); - a handle connected to the distal end of the master unit for operating the mechanical teleoperated device; - first mechanical transmission means (61, 62, 63, 64) arranged to kinematically connect the slave unit with the master unit such that the movement applied on each master joint (26, 27, 28, 29) of the master unit is reproduced by the corresponding slave joint (16, 17, 18, 19) of the slave unit; - second mechanical transmission means (65, 66, 67) arranged to kinematically connect the end-effector with the handle such that the movements applied on the handle are reproduced by the end-effector, and - mechanical constraint means configured to ensure that one master link of said master unit is guided along its longitudinal axis (θ 1) so that the corresponding slave link of the slave unit always translates along a virtual axis (θ 4) parallel to the longitudinal axis of said guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device (5a, 5b) is operated, wherein the mechanical teleoperated device (5a, 5b) is configured to enable the guided master link of the master unit to rotate about its longitudinal axis (θ 1), and about a second and a third axis (θ 2, θ 3), which longitudinal axis (θ 1) of the guided master link and which second and third axes (θ 2, θ 3) always intersect each other at a stationary single point independently of the orientation of said guided master link to enable the corresponding slave link of the slave unit to rotate about its longitudinal axis (θ 4), and about a fifth and a sixth virtual axis (θ 5, θ 6) which are parallel respectively to said second and third axes (θ 2, θ 3), and wherein the longitudinal axis (θ 4) of said corresponding slave link and the fifth and sixth virtual axes (θ 5, θ 6) always intersect each other at a remote-center-of-motion in the vicinity of the remote manipulation, characterized in that the kinematic model of the chain formed by the plurality of articulated slave links (11, 12, 13, 14) and corresponding slave joints (16, 17, 18, 19) of the slave unit, is identical to the kinematic model of the chain formed by the plurality of articulated master links (21, 22, 23, 24) and corresponding master joints (26, 27, 28, 29) of the master unit. - a slave unit having a number of slave links (11, 12, 13, 14) interconnected by a plurality of slave joints (16, 17, 18, 19); - an end-effector connected to the distal end of the slave unit; - a master unit having a corresponding number of master links (21, 22, 23, 24) interconnected by a plurality of master joints (26, 27, 28, 29); - a handle connected to the distal end of the master unit for operating the mechanical teleoperated device; - first mechanical transmission means (61, 62, 63, 64) arranged to kinematically connect the slave unit with the master unit such that the movement applied on each master joint (26, 27, 28, 29) of the master unit is reproduced by the corresponding slave joint (16, 17, 18, 19) of the slave unit; - second mechanical transmission means (65, 66, 67) arranged to kinematically connect the end-effector with the handle such that the movements applied on the handle are reproduced by the end-effector, and - mechanical constraint means configured to ensure that one master link of said master unit is guided along its longitudinal axis (θ 1) so that the corresponding slave link of the slave unit always translates along a virtual axis (θ 4) parallel to the longitudinal axis of said guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device (5a, 5b) is operated,