The invention relates to a holding device for medical purposes having a carrier arm on whose distal end at least one medical instrument can be secured and having at least one joint for positioning the carrier arm and/or the medical instrument, wherein the at least one joint can be transferred between a position that releases the joint and a position that blocks the joint and wherein the at least one joint is coupled with a touch sensor for actuating the joint. To produce a holding device for medical purposes that ensures simple construction, simple handling, and reliable positionability, it is proposed with the invention that the sensor should be coupled with the medical instrument mounted on the distal end of the carrier arm.