The present invention provides a surgical controlling system, comprising at least one surgical tool adapted to be inserted into a surgical environment of a human body for assisting a surgical procedure, at least one location estimating means, at least one movement detection means and a controller adapted to control the spatial position of said at least one surgical tool. The controller's database is adapted to store a predetermined set of rules according to which ALLOWED and RESTRICTED movements of said at least one surgical tool are determined. Each detected movement of the at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to the predetermined set of rules.
