Generally tumor ablation surgery requires insertion of at least 4 needles. However, automating this process using a robot is a highly complex task. The scenario is prone to needle collision and the relative distance between needles is small. Precise path planning, collision awareness and robot’s pose are computed to position the robot. We were successful in inserting 6 needles one after the other without colliding on any surface. The workflow of the system remains the same as spine surgery.