A surgical controlling system, comprising: at least one surgical tool configured to be inserted into a surgical environment of a human body； at least one location estimating means configured for real-time localization of the 3D spatial position of said at least one surgical tool at any given time t； at least one movement detection means communicable with a movement's database and with said location estimating means； a controller having a processing means communicable with a controller's database； said controller's database is in communication with said movement detection means； and at least one display configured to real time provide an image of at least a portion of said surgical environment； wherein said controller is configured to direct said surgical tool to said location via said instructions provided by said controller； further wherein said location is real time updated on said display as said at least one surgical tool is moved.
