This paper propose an S-Type Double-Arc insertion method for automatic needle insertion in path planning with obstacle avoidance, which is based upon the research of path planning in the case of an obstacle appears between needle and target. Through the evaluation of the relative position among the needle, obstacle and target, using their tangent lines, an approach which combines global and local path planning was presented. With inserting a needle along the arcs of a contour line inscribed polygon, and approaching the necessary algorithm of obstacle avoidance for automatic needle insert with a minimum cost(to minimize the pain of patients), in order to improve the applicability for path planning of automatic needle insertion.
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