The method includes obtaining a distance value of a guide wire from an inner wall of cavity and a resistance value of the inner wall of cavity to the guide wire when the guide wire moves in the cavity and controlling the guide wire for corresponding movement according to a relationship between the distance value and a predetermined distance threshold value, and/or the relationship between the predetermined resistance threshold value. The alarm strategy through image and resistance detection multi-dimensionally, lead to low false alarm rate. Automatic error correction by automatic reverse motion avoids the risk of untimely correction in case of danger due to the user's stress during the movement, thus improving the overall automation of movement control of the intervention robot.