A robotic system for moving a shapeable instrument within an object, the system comprising: - a robotic device (2, 3) for modifying the shape of the instrument and moving the instrument within the object, - an inner structure providing unit for providing structure information about the inner structure of the object, - a target position and shape providing unit for providing a target position and shape of the instrument within the object, - an actual position and shape providing unit for providing the actual position and shape of the instrument within the object, and - a control unit for controlling the robotic device (2, 3) based on the structure information, the target position and shape of the instrument and the actual position and shape of the instrument such that the instrument is moved and the shape of the instrument is modified from the actual position and shape to the target position and shape, wherein the inner structure providing unit is adapted to indicate safety zones within the inner structure, in which the robotic device (2, 3) should not apply forces for modifying the shape of the instrument and/or moving instrument within the object, which are larger than a predefined force value, wherein the control unit is adapted to control the robotic device (2, 3) such that no forces are applied in the safety zones being larger than the predefined force value, while the shape of the instrument is modified and the instrument is moved from the actual position and shape to the target position and shape, characterized in that the inner structure providing unit and the control unit are adapted to provide a feedback loop during a movement of the instrument within the object, wherein the inner structure of the object is continuously updated and the robotic device (2, 3) is continuously controlled based on the updated structure information, the target position and shape of the instrument and the actual position and shape of the instrument. - a robotic device (2, 3) for modifying the shape of the instrument and moving the instrument within the object, - an inner structure providing unit for providing structure information about the inner structure of the object, - a target position and shape providing unit for providing a target position and shape of the instrument within the object, - an actual position and shape providing unit for providing the actual position and shape of the instrument within the object, and - a control unit for controlling the robotic device (2, 3) based on the structure information, the target position and shape of the instrument and the actual position and shape of the instrument such that the instrument is moved and the shape of the instrument is modified from the actual position and shape to the target position and shape, wherein the inner structure providing unit is adapted to indicate safety zones within the inner structure, in which the robotic device (2, 3) should not apply forces for modifying the shape of the instrument and/or moving instrument within the object, which are larger than a predefined force value, wherein the control unit is adapted to control the robotic device (2, 3) such that no forces are applied in the safety zones being larger than the predefined force value, while the shape of the instrument is modified and the instrument is moved from the actual position and shape to the target position and shape, characterized in that the inner structure providing unit and the control unit are adapted to provide a feedback loop during a movement of the instrument within the object, wherein the inner structure of the object is continuously updated and the robotic device (2, 3) is continuously controlled based on the updated structure information, the target position and shape of the instrument and the actual position and shape of the instrument. wherein the inner structure providing unit is adapted to indicate safety zones within the inner structure, in which the robotic device (2, 3) should not apply forces for modifying the shape of the instrument and/or moving instrument within the object, which are larger than a predefined force value, wherein the control unit is adapted to control the robotic device (2, 3) such that no forces are applied in the safety zones being larger than the predefined force value, while the shape of the instrument is modified and the instrument is moved from the actual position and shape to the target position and shape, characterized in that the inner structure providing unit and the control unit are adapted to provide a feedback loop during a movement of the instrument within the object, wherein the inner structure of the object is continuously updated and the robotic device (2, 3) is continuously controlled based on the updated structure information, the target position and shape of the instrument and the actual position and shape of the instrument.