In clinic it is of very practical significance to optimize the entry point and pose in path planning. We proposed a reverse path planning algorithm adopting multiform combined paths based on the improved kinematic model of flexible needle, and the objective function is established. Utilizing the reversibility of the path, we started from the target to optimize the whole path including the entry point and pose. Then we optimally calculated and simulated in the environment with obstacles. Results show that this algorithm effectively makes the needle steer clear of obstacles to reach the target precisely, and gains the entry point and pose at the same time, guaranteeing the optimal path.