A medical path navigation method, planning method and device are provided. The navigation method includes: planning a navigation path； delivering an ablation catheter with a localization sensor into an airway leading to a lesion region according to the navigation path； adjusting a position and a direction of the ablation catheter in the airway based on the localization sensor during a moving process of the ablation catheter in the airway until the ablation catheter is navigated to a planned initial ablation region； and adjusting a position and a direction of the ablation catheter in the lesion region based on the localization sensor during a moving process of the ablation catheter in the lesion region until the ablation catheter is navigated to other ablation regions, thereby accurately navigating the ablation catheter to a lesion position that is not reachable by a bronchoscope.
