Minimally invasive surgery is based on various visual image equipment and advanced and dexterous surgical equipment, A surgical method in which instruments or drugs are inserted into the diseased tissue with minimal trauma (no skin incision, only puncture needles), and physical, mechanical or chemical treatment is performed on it.

With the rapid development of surgical instruments and image and imaging technology, the concept of minimally invasive surgery has long been expanded from traditional laparoscopic and thoracoscopic surgery to various image-guided minimally invasive interventional surgery. Minimally invasive interventional surgery has been widely used due to its characteristics of small trauma, quick recovery, and low risk, and has gradually become an important part of clinical medicine.

In the implementation of minimally invasive surgery, the key is to accurately place the interventional surgical tool to the surgical target position through the puncture operation. However, the traditional image-guided operation has the following problems:

① Experience dependence: Doctors are required to perform a lot of exercises and practical exercises. Young doctors often need to go through a longer training period before they can have mature and stable puncture operation techniques;

②Insufficient precision: The accuracy of freehand operation often depends on the technical proficiency and stability of the operating physician;

③Operational damage and increased radiation: Repeatedly adjust the operation and image scanning process to increase operation-related damage and radiation of both doctors and patients;

④Operation fatigue: Prolonged operation causes fatigue of the operator, and reduces the efficiency and stability of the operation.