This chapter provides a comprehensive historical analysis of the evolution of image-guided interventions for cancer, focusing on the convergence of imaging, therapeutic innovations in the field, and their clinical applications. Milestones that laid the foundation for modern interventional oncology in medical imaging and interventional therapeutics are outlined. Key advances in fluoroscopy and computed tomography are discussed along with developments in magnetic resonance imaging, ultrasound, and molecular imaging in interventional radiology. The chapter also touches upon palliative interventional procedures, and the role of the interventional oncologist in improving palliative care. Further, more recent advances, such as artificial intelligence and interventional robots that enhance the speed and safety of procedures in the health sector and the clinic are discussed. Finally, the importance of a partnership between radiologists and surgeons in interventional oncology is highlighted for a more collaborative approach to further advance the effective palliative care.