A surgical controlling system comprising: a. a surgical tool adapted to be inserted into a surgical environment of a human body for assisting a surgical procedure, said surgical tool being an articulating tool b. a location estimating means adapted to real-time locate the 3D spatial position of said surgical tool at any given time t c. a movement detection means and, d. a controller having a processing means communicable with a controllers database, said controller adapted to control the spatial position of said surgical tool said controllers database is in communication with said movement detection means said controller adapted to provide instructions for moving said surgical tool.
