A system for at least one of (i) monitoring and (ii) controlling the insertion of a medical tool through a tissue of a body of a subject, the system comprising: an insertion device configured to insert the medical tool into the tissue of the body of the subject according to a pre-planned trajectory; a force sensor configured to measure forces exerted on the medical tool during insertion into the tissue of the body of the subject; and at least one processor configured to: receive force measurements from the force sensor; determine an actual correlation between an insertion parameter and the force sensor measurements; compare said actual correlation to an expected correlation between the insertion parameter and the force sensor measurements; determine if a deviation of said actual correlation from said expected correlation exceeds a pre-determined level; control an operation of at least one of the insertion device and an imaging device based on the result of said comparison; and if the deviation of said actual correlation from said expected correlation does not exceed the pre-determined level, initiate imaging of a region of interest in the body of the subject, characterized in that the at least one processor is further configured to: adjust the pre-planned trajectory of the medical tool based on the initiated images; and adjust the expected correlation between the insertion parameter and the force measurements based on the initiated images and the adjusted trajectory. an insertion device configured to insert the medical tool into the tissue of the body of the subject according to a pre-planned trajectory; a force sensor configured to measure forces exerted on the medical tool during insertion into the tissue of the body of the subject; and at least one processor configured to: receive force measurements from the force sensor; determine an actual correlation between an insertion parameter and the force sensor measurements; compare said actual correlation to an expected correlation between the insertion parameter and the force sensor measurements; determine if a deviation of said actual correlation from said expected correlation exceeds a pre-determined level; control an operation of at least one of the insertion device and an imaging device based on the result of said comparison; and if the deviation of said actual correlation from said expected correlation does not exceed the pre-determined level, initiate imaging of a region of interest in the body of the subject, characterized in that the at least one processor is further configured to: adjust the pre-planned trajectory of the medical tool based on the initiated images; and adjust the expected correlation between the insertion parameter and the force measurements based on the initiated images and the adjusted trajectory. receive force measurements from the force sensor; determine an actual correlation between an insertion parameter and the force sensor measurements; compare said actual correlation to an expected correlation between the insertion parameter and the force sensor measurements; determine if a deviation of said actual correlation from said expected correlation exceeds a pre-determined level; control an operation of at least one of the insertion device and an imaging device based on the result of said comparison; and if the deviation of said actual correlation from said expected correlation does not exceed the pre-determined level, initiate imaging of a region of interest in the body of the subject, characterized in that the at least one processor is further configured to: adjust the pre-planned trajectory of the medical tool based on the initiated images; and adjust the expected correlation between the insertion parameter and the force measurements based on the initiated images and the adjusted trajectory. adjust the pre-planned trajectory of the medical tool based on the initiated images; and adjust the expected correlation between the insertion parameter and the force measurements based on the initiated images and the adjusted trajectory.