An interventional therapy system (100, 200, 300, 900) may include at least one catheter configured for insertion within an object of interest (OOI)； and at least one controller (102, 202, 910) which: obtains a reference image dataset (540) comprising a plurality of image slices which form a three-dimensional image of the OOI, defines restricted areas (RAs) within the reference image dataset, determines location constraints for the at least one catheter in accordance with at least one of planned catheter intersection points, a peripheral boundary of the OOI and the RAs defined in the reference dataset, determines at least one of a position and an orientation of the distal end of the at least one catheter, and/or determines a planned trajectory for the at least one catheter in accordance with the determined at least one position and orientation for the at least one catheter and the location constraints.
