The aim of the thesis is to develop a controller for a parallel robot, using an Optical Coherence Tomography (OCT) sensor, in order to do in vivo optical biopsy according to cancer treatment. The common techniques for cancer treatment need an early diagnosis and regular monitoring. In particular for the digestive tract, they are invasive and relied on model-based control for the manipulation of the tool. This do not provide the relative positioning of the end effector with respect to the tissue. The image-based control regulates this relative positioning, making it also easier to be understand by the surgeon. Due to the submillimeter accuracy request for an optical biopsy, an OCT sensor is studied for the development of an image-base control.