Abstract
Minimally invasive therapy and personalized treatment is important in future medical and healthcare procedure. Thence, advanced surgical system developed with robot technology has recently become the main feature of minimal invasive therapy performs. The procedure with surgical robot should be planned and executed based on the mechanical models, such as kinetic model of surgeon and internal dynamic model of patient organ/tissue. The model needs to be optimized to personalize and actual characteristics of patient and surgeon, to realize the accurate performance with surgical robot system. For example, material mechanics modeling is used to analyze and simulate the deformation of soft tissue. These model is used to navigate the needle to reach the target in optimal trajectory in needle insertion supporting system. Moreover, thermal mechanics modeling is employed for calculating the energy transfer in thermal therapy, which includes not only heat transfer mechanism, but also fluid mechanism to consider effect of heat absorption from blood vessels. In the future, coupled modeling including four mechanical dynamics（material mechanics, mechanical dynamics, thermal dynamics and fluid dynamics）is considerable. For nursing not only without pain but also itch and fear is the main features. It means that Research target is from qualitative to quantitative evaluation.
