Method for generating insertion trajectory of surgical needle

The present disclosure relates to a method for generating an insertion trajectory of a surgical needle from an entry point to a target, and more specifically, to a method for generating an insertion trajectory of a surgical needle from an entry point to a target characterized by comprising the steps of: preparing a medical image including the target and an anatomical structure; and extracting an insertion trajectory by considering either the amount of invasion in the anatomical structure caused by the insertion trajectory and/or the length of the insertion trajectory. Also, the present disclosure relates to a method for generating an insertion trajectory of a medical device and a needle insertion-type interventional procedure robot.