The present invention provides a system for controlling an endoscope, comprising a. an endoscope adapted to provide real time images of FOV within a body cavity； said FOV defines FOVx-axis, FOVy-axis and FOVz-axis, b. a maneuvering system for maneuvering said endoscope； said maneuvering system defines an X-axis, a y-axis； and, a z-axis； c. control means adapted to receive commands of motions from a user to maneuver said endoscope； and d. a data processing system in communication with said control means, adapted to instruct said maneuvering system to maneuver said endoscope according to said commands of motions； wherein said data control means instructs said maneuvering system to maneuver said endoscope according to said commands of motions relative to said FOVx-axis, said FOVy-axis and said FOVz-axis, regardless of said X-axis, said y-axis and said z-axis as defined by said maneuvering system.
