Patent ID: 7170250

Claim:
A holding arrangement for an instrument including a medical-optical instrument, the holding arrangement comprising: at least one rotational joint which is subjected to a load torque by said instrument; and, an apparatus for balancing said load torque applied to said rotational joint; said apparatus including: an electric motor; a detecting unit for detecting a position of said rotational joint and for providing a signal representing a position value for said position of said rotational joint; and, said electric motor being combined with said detecting unit; a control unit for receiving said signal and assigning a motor current to said position value; said control unit outputting said motor current to said electric motor so as to cause said electric motor to generate a counter torque to balance said load torque applied to said rotational joint; a device for actively damping vibrations and said device including: a sensor for detecting a vibration of said holding arrangement and for generating a control quantity; and, a vibration damping control loop connected to said sensor for receiving said control quantity to generate a superposition motor current as an actuating quantity and supplying said actuating quantity to said electric motor to move said rotational joint via said electric motor so as to counter said vibration.