In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Since this surgical method is less invasive, the number of this surgery tends to increase. However, doctors are exposed to strong radiation in the case under CT-guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot. When doctors operate by remote control, there is possibility that parts of the robot collide with peripheral devices or a patient. Especially, if in the case of collision with the patient, it could become a serious incident. Accordingly, it is important to build a suitable path plan of the needle insertion before the surgery. Doctors, however, currently, do not have methods to grasp the possibility of the collision. Therefore, a simulation which detect collision with a patient in the advanced planning is proposed in this paper. The effectiveness of proposed simulation is confirmed.