Abstract: A device for robot-assisted surgery comprises at least one manipulator arm with a non-sterile coupling unit comprising at least one first drive element. Further, the device comprises a sterile instrument unit arranged in a sterile area and comprising at least one second drive element arranged rotatably around an axis of rotation. The first drive element and the second drive element are configured and arranged in a coupled state such that by the first drive element a force can be exerted on the second drive element, for rotation of the second drive element about the axis of rotation, and in the coupled state the first drive element and the second drive element are arranged side by side in a plane of rotation orthogonally to the axis of rotation. Further, the device comprises a sterile barrier which is arranged at least between the first drive element and the second drive element.