The solution presented on this patent uses a parallel plat- form with kinematic architecture 3UPS1S and small di- mensions. The device is able to give orientation to the MIS surgical tool, thanks to the three degrees of freedom it has. Additionally, a device that allows a translational degree of freedom along the axis of the tool is foreseen. This device presents a high dinamic stiffness and it is able to give high torques and forces using only three small linear actuators of 3,13 N of nominal power. The goal of the given solution is to design a robot whose workspace fits as much as pos- sible to the objective workspace (the cone of laparoscopic procedures), without internal singularities and that is capa- ble to give the required forces.