The invention provides a series-parallel-connection force-feedback remote-control manipulator, and relates to an operation manipulator to resolve the problems that a master manipulator of a master-slave remote-control operation robot only adopts a series-connection or parallel-connection structure, a series-connection master manipulator structure has no clamping freedom degree, an operator can not adapt, and the hands of the operator are tired after long-time operation, and a parallel-connection master manipulator structure is not flexible to move, small in work space, difficult to meet the requirements of flexible motion and large rotation angle of an enterocoelia operation instrument. The series-parallel-connection force-feedback remote-control manipulator comprises a series-connection mechanism, a parallel-connection mechanism and a clamping mechanism, wherein the series-connection mechanism comprises a first rotation arm, a second rotation arm, a first balancing weight, a second balancing weight, a first encoder, a second encoder, a third encoder and a force sensor, and the clamping mechanism comprises a clamping seat, a fourth encoder, a first servo motor, a speed reducer, a third balancing weight and a clamping device. The series-parallel-connection force-feedback remote-control manipulator is applied to the mini-invasive enterocoelia surgery.