The present invention provides a surgical controlling system, comprising: a. a surgical tool; b. a location estimating means configured to real-time locate the 3D spatial position of said at least one surgical tool at any given time t; c. a movement detection means communicable with a movement's database and with said location estimating means; said movement's database is configured to store said 3D spatial position of said at least one surgical tool at time tf and at time t0, where tf>t0; said movement detection means is configured to detect movement of said at least one surgical tool if the 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time t0; and, d. a controller configured to control the spatial position of said at least one surgical tool.