Holding and guiding system

Holding and guiding system for a medical instrument, preferably an endoscope (10), with at least one guide arm (4) to which the medical instrument by means of a tool holder (7) is coupled and said guide arm (4), forming a kinematic tripod (1 ) is movably mounted by means of two support rods (5,6), characterized in that the tool holder (7) is designed as a cardanic bearing which is as such by means of the three-leg three-dimensionally in space movable so that the medical instrument in the entry point of the medical instrument in arranged the intended purpose below the tool holder (7) patient's body is supported largely freely movable.