A mechanical telemanipulator for remote manipulation comprising: a slave manipulator having a number of slave links (17, 18, 19, 20, 21) interconnected by a plurality of slave joints (22, 23, 24, 25, 26); an end-effector connected to the distal end of the slave manipulator; a master manipulator having a corresponding number of master links (7, 8, 9, 10, 11) interconnected by a plurality of master joints (12, 13, 14, 15, 16); a handle connected to the distal end of the master manipulator for operating the mechanical telemanipulator; first mechanical transmission means arranged to kinematically connect the slave manipulator with the master manipulator such that the movement applied on each master joint of the master unit is reproduced by the corresponding slave joint of the slave manipulator; second mechanical transmission means arranged to kinematically connect the end-effector with the handle such that the movements applied on the handle are reproduced by the end-effector; at least one mechanical constraint applied on a link of the master manipulator so that the link is guided to translate along and rotate about a stationary single point when the mechanical telemanipulator is operated; wherein the proximal ends of the slave and master manipulator being connected to a first ground; and characterized by an articulated system fixed to either the first ground or a second ground, the articulated system having at least one degree-of-freedom and comprising at least one moving link; and the at least one mechanical constraint being mounted on the articulated system so that the at least one mechanical constraint is movable relative to the first ground. a slave manipulator having a number of slave links (17, 18, 19, 20, 21) interconnected by a plurality of slave joints (22, 23, 24, 25, 26); an end-effector connected to the distal end of the slave manipulator; a master manipulator having a corresponding number of master links (7, 8, 9, 10, 11) interconnected by a plurality of master joints (12, 13, 14, 15, 16); a handle connected to the distal end of the master manipulator for operating the mechanical telemanipulator; first mechanical transmission means arranged to kinematically connect the slave manipulator with the master manipulator such that the movement applied on each master joint of the master unit is reproduced by the corresponding slave joint of the slave manipulator; second mechanical transmission means arranged to kinematically connect the end-effector with the handle such that the movements applied on the handle are reproduced by the end-effector; at least one mechanical constraint applied on a link of the master manipulator so that the link is guided to translate along and rotate about a stationary single point when the mechanical telemanipulator is operated; wherein the proximal ends of the slave and master manipulator being connected to a first ground; and characterized by an articulated system fixed to either the first ground or a second ground, the articulated system having at least one degree-of-freedom and comprising at least one moving link; and the at least one mechanical constraint being mounted on the articulated system so that the at least one mechanical constraint is movable relative to the first ground.