A method of performing a percutaneous multi-probe treatment includes: acquiring a scan image of an object to be treated with multi-probe percutaneous insertions； determining a first point in a region of interest (ROI) in the scan image； determining a second point at a surface of the object in the scan image； generating a reference trajectory by connecting the first point and the second point； arranging, around the first point, a number of third points corresponding to tips of probes to be inserted into the object； generating planned insertion trajectories for the probes based on the number of probes to be inserted and the reference trajectory； and causing a monitor to display superposed on the scan image, at least one of the planned insertion trajectories. The planned insertion trajectories extend in a geometric relationship to the reference trajectory and pass through the third points and through one or more second points.
