A method of jointed device movement inside a body comprising: measuring movement of at least one input object portion； mapping the measured input object portion movement to a jointed device portion movement； and moving the device portion according to mapped measured movements. According to an aspect of some embodiments of the present invention there is provided a surgical system comprising: a surgical device sized and shaped for insertion into a human body comprising at least one articulated limb, which limb comprises a plurality of sequentially coupled surgical device portions.
