An object of the present invention is to reduce a doctor's operation time in a puncture operation using a puncture robot and a medical image diagnostic apparatus. A puncture planning device according to an embodiment includes a puncture route determining unit that determines a puncture route from a puncture needle insertion position to a puncture target position using a medical image of a subject, and a puncture route and puncture. In a puncture operation for the subject, based on a first operation limit range of the puncture needle moving device that moves the needle and a second operation limit range of the medical image diagnostic apparatus that performs medical imaging on the subject. An operation plan determination unit that determines a first operation plan of the puncture needle moving device and a second operation plan of the medical image diagnostic device. [Selection] Fig. 3【課題】穿刺ロボットと医用画像診断装置とを利用する穿刺術において医師の手術時間を削減すること。【解決手段】実施形態に係る穿刺計画装置は、被検体に関する医用画像を利用して穿刺針の刺入位置から穿刺対象位置への穿刺経路を決定する穿刺経路決定部と、前記穿刺経路と穿刺針を移動する穿刺針移動装置の第１の稼働制限範囲と前記被検体に対し医用撮像を施す医用画像診断装置の第２の稼働制限範囲とに基づいて、前記被検体のための穿刺術における前記穿刺針移動装置の第１の動作計画と前記医用画像診断装置の第２の動作計画とを決定する動作計画決定部と、を具備する。【選択図】 図３
