The operation planning software can realize the visualization processing and analysis of CT images, including the visualization of CT images in three directions, three-dimensional digital human body and CT image fusion display, manual and automatic annotation of organs in CT images, automatic segmentation of multiple organs, manual puncture path planning and other functions.

ICNM functions as the information distribution hub, data center, and control center in the SGNIO system. It features centrally controlled software developed by Hanglok, providing the surgeon with intraoperative force sensing data, optical positioning information, and real-time ultrasound images. It offers multiple interaction modes, enabling real-time control of the robotic arm and real-time adjustments to the surgical plan based on real-time sensory information.

OTTM plays the role of the “eyes” in SGNIO. Equipped with navigation and positioning software developed by Hanglok Technology, it enables the identification and localization of optical markers on the patient's body surface and at the end of the robotic arm. It also performs automatic and rapid registration of the surgical spatial coordinate system.

SIEM serves as the execution component for surgical planning in the SGNIO, functioning as the "hand" of the system. It comprises a robotic arm and an end-effector module. The end-effector module, designed by Hanglok, integrates force sensing, optical sensing, an ultrasound system, and a needle insertion channel. As the only component in direct contact with the patient, it performs tasks such as aligning the ultrasound probe, positioning the needle path, and fine-tuning the surgical plan during the procedure.