Instrument support device for a manipulator of a robotic surgical system

An instrument support device for a manipulator of a robotic surgical system, comprising:

• a three-element arm as end piece of an open kinematic chain with a first, second and third arm element;
• an interface for connecting the first arm element to the manipulator via an interface rotational joint;
• a torsional joint which connects the first arm element to the second arm element;
• a first rotational joint which connects the second arm element to the third arm element;
• a sliding joint which connects the third arm element to an instrument mounting for receiving a surgical instrument with an instrument longitudinal axis;
• and
• a controller with drives for the torsional joint, the first rotational joint and the sliding joint for moving the first, second and third arm elements and the instrument mounting relative to one another;
• wherein, the instrument mounting is connected to the third arm element via a second, passive rotational joint and is freely rotatable about a rotational axis thereof, and rotational axes of the first rotational joint and of the second rotational joint lie parallel to each other, whereby the instrument longitudinal axis is guidable through a pivot point, which lies on the rotational axis of the torsional joint in an extension from the second arm element, without constraint.