The invention describes a mounting and positioning device of a surgical instrument and/or an endoscope for minimally-invasive surgery, in particular for use within a surgical robot system, comprising a first axis of rotation (3), around which a support element (4) is rotatably arranged, wherein the first axis of rotation (3) intersects with the longitudinal axis (11) of at least one surgical instrument (9 17A, 17b) and/or an endoscope (9 17A, 17b) in a pivot point (13), as the result of a deviation drive (5) being fixed on the support element (4), said deviation drive arranging an instrument drive unit (15) in rotatable fashion around a pivot point (13), and wherein a telescopic device (8) is provided at an instrument drive unit (15), which allows for the translatory movement of the surgical instrument (9 17A, 17b) and/or the endoscope (9 17A, 17B) into the body, along its longitudinal axis (11) using a guide device (10, 10s) in such fashion that the longitudinal axis (11) of the surgical instrument (9 17A, 17b) and/or the endoscope (9 17A, 17b) is variably adjustable in relation to the telescopic device (8).
