A system for controlling an endoscope , comprising a. an endoscope adapted to provide real time images of FOV within a body cavity; said FOV defines at least two axes selected from a group consisting of FOVx-axis, FOVy- axis and FOVz-axis and any combination thereof, such that at least two axes selected from said FOVx-axis, said FOVy-axis, said FOVz-axis and any combination thereof are adapted to be real time updated as said endoscope moves and said FOV changes; said endoscope is featured by a spatial location; said spatial location is real-time updated as said endoscope moves; b. a maneuvering system for maneuvering said endoscope in at least two DOF; said maneuvering system defines a constant x-axis, a constant y-axis and a constant z-axis; c. control means adapted to receive commands of motions from a user to maneuver said endoscope ; and d. a data processing system in communication with said control means, adapted to instruct said maneuvering system to maneuver said endoscope according to said commands of motions; wherein said data control means instructs said maneuvering system to maneuver said endoscope according to said commands of motions relative to at least two axes selected from said FOVx-axis, said FOVy-axis and said FOVz-axis and any combination thereof, as real time displayed in said image, regardless of said spatial location of said endoscope and of said x-axis, said y-axis and said z-axis as defined by said maneuvering system; further wherein said data processing system is adapted to convert said commands of motions relative to at least two axes selected from said FOVx-axis, said FOVy-axis, said FOVz-axis and any combination thereof to commands of motions relative to said x-axis, said y-axis and said z- axis, such that said maneuvering system is adapted to move said endoscope relative to said x- axis, said y-axis and said z-axis to result in said motions as commanded relative to at least two axes selected from said FOVx-axis, said FOVy-axis, FOVz-axis and any combination thereof characterized in that the system is adapted to, during motion of the endoscope, track objects in the images using an image processing system, compare the location of the objects in a present image with the location of said objects in a previous image, calculate therefrom the direction of motion of the image relative to the FOV, and check if the center of the image is moving in the desired direction. a. an endoscope adapted to provide real time images of FOV within a body cavity; said FOV defines at least two axes selected from a group consisting of FOVx-axis, FOVy- axis and FOVz-axis and any combination thereof, such that at least two axes selected from said FOVx-axis, said FOVy-axis, said FOVz-axis and any combination thereof are adapted to be real time updated as said endoscope moves and said FOV changes; said endoscope is featured by a spatial location; said spatial location is real-time updated as said endoscope moves; b. a maneuvering system for maneuvering said endoscope in at least two DOF; said maneuvering system defines a constant x-axis, a constant y-axis and a constant z-axis; c. control means adapted to receive commands of motions from a user to maneuver said endoscope ; and d. a data processing system in communication with said control means, adapted to instruct said maneuvering system to maneuver said endoscope according to said commands of motions; <EOS>