Method for positioning a medical device (2) comprises controlling the position of the device using a drive unit (10) when no force acting on a power determining unit (6) and no movement of the device are determined. An independent claim is also included for a medical system comprising a medical device, a guiding unit (4) and a power determining unit. Preferred Features: The change of the kinematic size is partly a function of the force. The kinematic size is an acceleration, a speed and/or a position.
