The disclosure relates to a holding device (12) for medical instruments (14) having a proximal base (20) for mounting on a frame (16), said base comprising a first joint (30), having a distal instrument holder (22) which comprises a second joint (32), having at least two sliding elements (52, 54, 58) between the base (20) and the instrument holder (22), and having at least two clamping elements (138, 140, 142, 144) which can be actuated by at least one transfer element (84, 86, 88), which can be operated jointly in a clamped stated and a released state, and which are designed to lock joints of the holding device (12) in the clamped state, wherein the at least two sliding elements (52, 54, 58) form a sliding joint (24) and can be displaced translationally relative to each other along a longitudinal axis (132), and wherein the at least two sliding elements (52, 54, 58) are telescopable relative to each other and coupled non-rotationally with each other. The disclosure also relates to a medical system, a use of a holding device, as well as a method for positioning a medical instrument.