Help Can you make Obi object follow another Unity object

[matchalover]

I'm trying to make a virtual surgery by LeapMotion (for control hands and tools) and Obi (for simulate human body's parts). I'm stuck in making the a tool to grab an Obi object. I can do with its collider but not the Obi form. Do you have any suggest?
P/s: Can i have a private support (email, chat...)? Because it's kinda hard to explain my idea. Thanks