The invention relates to a system (3) and method for controlling a robotic medical tool (4). The system (3) comprises the robotic medical tool (4), a motion capture device (5) and a control unit (6). The motion capture device (5) is configured to capture a motion of an object (2, 10). The control unit (6) is configured to adjust the robotic tool (4) relative to the object (2, 10) in dependence of the captured motion. To facilitate improved control of the robotic tool (4) and an improved workflow, the motion capture device (5) is an ultrasound device (5).
