Robotic surgical assembly

A robotic surgical assembly comprising:

• a macropositioning arm with a plurality of degrees of freedom and comprising a support link;
• a cart, wherein the macropositioning arm is connected to said cart
• two micromanipulators for micro-positioning respective surgical instruments, each of the micromanipulators having a plurality of motorized degrees of freedom controllable by a controller;
• wherein:
• said two micromanipulators are both attached to said support link of the macropositioning arm;
• said macropositioning arm includes a brake with a release button, the release button being switchable to allow an operator to move at least one of the degrees of freedom of the macropositioning arm by carrying the macropositioning arm around;
• wherein the macropositioning arm comprises four links connected to each other in series by passive rotational joints each having vertical and parallel movement axes;
• wherein inside each rotational joint, the brake allows the position of each single member to be locked in space.