A medical positioning apparatus for positioning and holding an object, comprising: a telescopic member extending between a first end and a second end and having an adjustable length; an interface member for receiving the object; a first joint mechanism movably securing the interface member to the first end of the telescopic member; a second joint mechanism connected to the second end of the telescopic member; a base member movably connected to the second joint mechanism, wherein the base member comprises an elongated arm; wherein the second joint mechanism is directly rotationally connected to the base member and movably secures the base member to the second end of the telescopic member; and wherein the first and second joint mechanisms (104, 106) each having at least two rotational degrees of freedom, a locking device (124, 126, 128) operatively connected to the first and second joint mechanisms (104, 106) and the telescopic member, the locking device (124, 126, 128) operable between a locked position in which the interface member, the base member, and the telescopic member are lockingly interconnected together and the length of the telescopic member is fixed, and a released position in which the interface and base members (108, 110) are free to pivotally move with respect to the telescopic member and the length of the telescopic member is adjustable, the locking device (124, 126, 128) being passively biased in the locked position; and a lock activation device to unlock the locking device (124, 126, 128) biased in the locked position in order to adjust the length of the telescopic member and a relative position of the interface member, the base member, and the telescopic member, wherein the base member or the telescopic member is L-shaped, so that the base member can be positioned parallel to the telescopic member. a telescopic member extending between a first end and a second end and having an adjustable length; an interface member for receiving the object; a first joint mechanism movably securing the interface member to the first end of the telescopic member; a second joint mechanism connected to the second end of the telescopic member; a base member movably connected to the second joint mechanism, wherein the base member comprises an elongated arm; wherein the second joint mechanism is directly rotationally connected to the base member and movably secures the base member to the second end of the telescopic member; and wherein the first and second joint mechanisms (104, 106) each having at least two rotational degrees of freedom, a locking device (124, 126, 128) operatively connected to the first and second joint mechanisms (104, 106) and the telescopic member, the locking device (124, 126, 128) operable between a locked position in which the interface member, the base member, and the telescopic member are lockingly interconnected together and the length of the telescopic member is fixed, and a released position in which the interface and base members (108, 110) are free to pivotally move with respect to the telescopic member and the length of the telescopic member is adjustable, the locking device (124, 126, 128) being passively biased in the locked position; and a lock activation device to unlock the locking device (124, 126, 128) biased in the locked position in order to adjust the length of the telescopic member and a relative position of the interface member, the base member, and the telescopic member, wherein the base member or the telescopic member is L-shaped, so that the base member can be positioned parallel to the telescopic member.