The invention relates to a surgical instrument (300), in particular an endoscopic instrument, having a shaft (302) for insertion into a body opening of a patient, which has a distal and a proximal section (304, 306), wherein at the distal section (304) Engagement unit (308) is arranged. According to the invention, the shank (302) has a material measure (316) which can be scanned by means of a sensor device for determining a penetration depth and / or rotational position of the instrument. Furthermore, the invention relates to a manipulator, a holding arm, a system and a method.
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