Continuum robots complex motion planning and low control accuracy are important problems that restrict its in-depth research and rapid application.The kinematic modeling of the continuum robot was studied based on the geometric analysis method and the mapping model of the joint space and the end Cartesian space was constructed.According to the requirements of fast intervention and accurate detection,a robot motion planning method based on navigation path constraints was proposed.The minimum distance between the front and rear endpoints of each bending unit of the continuum robot and the ideal trajectory was used as the objective function,and the reverse recursion method was used to calculate section by section.The joint parameters of each bending unit were obtained,so as to control the robot to perform interventional motion along the preset navigation path.Finally,the proposed path planning algorithm was verified by the motion planning simulation experiments of the plane C-shaped curved curve and the space path,and the following effect of the robot when the length of the robot joint and the number of units changed under the planning method was studied.The simulation results show that the proposed motion planning method can effectively control the continuum robot to perform interventional motion along the preset path,and has high control accuracy and strong adaptability.