Holding and positioning device of an instrument for minimally invasive surgery, for use within a surgical robot system, comprising - an instrument drive unit, - a telescopic device to which a surgical instrument (9; 17a, 17b) is secured by means of the instrument drive unit, wherein the surgical instrument (9; 17a, 17b) can be moved into the body translationally by the telescopic device along its instrument longitudinal axis through a guide device (10, 10s), - a drive unit which has a first axis of rotation about which a holding element is arranged rotatable, wherein the first axis of rotation always intersects with the instrument longitudinal axis of the surgical instrument (9; 17a, 17b) in a pivot point, - characterized in that a linear actuator is attached to the holding element, and the telescopic device is arranged on a coupling guide formed as a coupling joint, wherein the linear actuator is formed to transmit force to a linear actuator position point formed as a pivotal point on the coupling guide, - wherein the instrument drive unit is mounted rotatable on the telescopic device by means of an instrument pivotal point and the coupling guide has a coupling pivotal point which is rigidly connected to the holding element and defines a second axis of rotation which is arranged perpendicular to the first axis of rotation and at a distance from same, with the result that by means of force transmission via the linear actuator to the coupling guide a rotation of the coupling guide about the second axis of rotation can be realized, whereby the instrument longitudinal axis of the surgical instrument (9; 17a, 17b) is variably adjustable relative to a telescopic longitudinal axis of the telescopic device as a function of the linear actuator, and the instrument drive unit is rotatable about the pivot point about an axis orthogonal to the first axis of rotation. - an instrument drive unit, - a telescopic device to which a surgical instrument (9; 17a, 17b) is secured by means of the instrument drive unit, wherein the surgical instrument (9; 17a, 17b) can be moved into the body translationally by the telescopic device along its instrument longitudinal axis through a guide device (10, 10s), - a drive unit which has a first axis of rotation about which a holding element is arranged rotatable, wherein the first axis of rotation always intersects with the instrument longitudinal axis of the surgical instrument (9; 17a, 17b) in a pivot point, - characterized in that a linear actuator is attached to the holding element, and the telescopic device is arranged on a coupling guide formed as a coupling joint, wherein the linear actuator is formed to transmit force to a linear actuator position point formed as a pivotal point on the coupling guide, - wherein the instrument drive unit is mounted rotatable on the telescopic device by means of an instrument pivotal point and the coupling guide has a coupling pivotal point which is rigidly connected to the holding element and defines a second axis of rotation which is arranged perpendicular to the first axis of rotation and at a distance from same, with the result that by means of force transmission via the linear actuator to the coupling guide a rotation of the coupling guide about the second axis of rotation can be realized, whereby the instrument longitudinal axis of the surgical instrument (9; 17a, 17b) is variably adjustable relative to a telescopic longitudinal axis of the telescopic device as a function of the linear actuator, and the instrument drive unit is rotatable about the pivot point about an axis orthogonal to the first axis of rotation.