A system for controlling with respect to a body of a patient, displacement of an intervention device having an end intended to be inserted in the body of the patient through a point of penetration, comprising: - A base intended to be in a fixed position relative to the patient; - A first portion comprising an arc member, said first portion being pivotally mounted on the base around a first axis, wherein said first axis is parallel to an arc plane defined by the arc member; - A second portion comprising a support member and a carrier member, said support member having a longitudinal axis and said carrier member being slidably mounted on the arc member for partially rotating around a second axis, said second axis extending through a centre of curvature of the arc member perpendicularly to the arc plane, wherein the second axis and the first axis are perpendicular; - A third portion comprising ∘ a holding member for releasable attachment of the intervention device, and ∘ a sliding member slidably mounted on the support member along a translation axis (A T) being parallel to the arc plane and corresponding to the longitudinal axis of the support member, ∘ the holding member being arranged relative to the sliding member so that translation of the sliding member along the translation axis (A T) causes the intervention device to translate along a third axis, and characterized in that the first, second and third axes are concurrent, the third axis being parallel to and offset from the translation axis (A T), said offset being made along at least a first offset direction being perpendicular to the translation axis (A T) and parallel to the arc plane, so that when the carrier member is positioned halfway of the arc member then the first, second and third axes are orthogonal, wherein the third axis is offset so as to have a projection in the arc plane along a radius of the arc member, wherein said projection of the third axis in the arc plane and a radius of the arc member passing through the carrier member defines an offset angle, said offset angle (α) being an angle comprised between 20° and 50°. - A base intended to be in a fixed position relative to the patient; - A first portion comprising an arc member, said first portion being pivotally mounted on the base around a first axis, wherein said first axis is parallel to an arc plane defined by the arc member; - A second portion comprising a support member and a carrier member, said support member having a longitudinal axis and said carrier member being slidably mounted on the arc member for partially rotating around a second axis, said second axis extending through a centre of curvature of the arc member perpendicularly to the arc plane, wherein the second axis and the first axis are perpendicular; - A third portion comprising ∘ a holding member for releasable attachment of the intervention device, and ∘ a sliding member slidably mounted on the support member along a translation axis (A T) being parallel to the arc plane and corresponding to the longitudinal axis of the support member, ∘ the holding member being arranged relative to the sliding member so that translation of the sliding member along the translation axis (A T) causes the intervention device to translate along a third axis, and ∘ a holding member for releasable attachment of the intervention device, and ∘ a sliding member slidably mounted on the support member along a translation axis (A T) being parallel to the arc plane and corresponding to the longitudinal axis of the support member, ∘ the holding member being arranged relative to the sliding member so that translation of the sliding member along the translation axis (A T) causes the intervention device to translate along a third axis, and