A kind of medical instrument for measured value (such as the power being applied on tool during insertion) control such as needle etc based on the associated interaction parameter of interaction between tool and bodily tissue is intracorporal to subject) system and method. The system includes: insertion apparatus At least one sensor is configured to measure the interaction parameter And at least one processor, it is configured to receiving sensor measured value, one or more predefined patterns is sensed in measurement value sensor, and once sense predefined pattern, just controls the operation of at least one of insertion apparatus and imaging device. Processor can be configured to compare the true correlation between measurement value sensor and the insertion parameter of such as insertion depth etc with expected correlation, and result based on this comparison determines whether medical instrument goes along its preparatory planned trajectory.
