A holder for use in combination with an external object is provided, in particular a holder for which the external object moves around a remote center of motion. The external object may be a medical instrument such as a cannula or trocar whereby the remote center of motion is the patient's abdomen. The holder includes two members, generating motion in both a longitudinal and rotational manner. The holder can be used to support another object, in a particular embodiment a camera, convenient for performing endoscopic (laparoscopic) surgery and is equipped with means for generating motion, both in a longitudinal and rotational manner following XYZ coordinates. The holder is particularly useful for working in small areas as it occupies only a small bedside space, without scarifying on functional work area of the instrument mounted in the holder.
