The input apparatus (1) for medical minimally invasive robots or medical simulators consists of at least one handheld device (10) having a first operating part (12) and a second operating part (14), wherein the first and second operating parts (12,14) are connected to one another via a pivot joint (16), a measuring system (20) having one or more sensors for determining an angle between the first and second operating parts (12,14), for contactlessly detecting the spatial position of the handheld device and for contactlessly detecting the orientation of the handheld device, and a computer unit (22) which can be connected to the handheld device (10) via a data link.
