There is a surgical method called Interventional Radiology (IVR). We have been developing surgery support robot of IVR. IVR has the advantage that invasiveness is low, therefore the number of IVR surgery has been increasing in recent years. In lung cancer treatments, however, it has the problem that doctors are exposed to radiation because IVR is conducted in CT equipment. The purpose of this study is to avoid the problem by operating remote steerable IVR robot. IVR robot with 5 DOF have been developed in the prior study. Previously, each joint was controlled independently. Therefore, when the posture of needle is changed, the position also should be corrected manually. To improve operability of IVR robot, the forward kinematics and the inverse kinematics is solved. Finally, accuracy of needle tip position is evaluated.