Abstract: In an interventional ablation therapy planning system (10), an imaging system (30) generates an image representation of a target volume located in a patient. A segmentation unit (36) segments a planned target volume (42) of the target volume which is to receive the ablation therapy. A planning processor (40) which generates an ablation plan with one or more ablation zones (44, 48, 50, 52) which cover the entire planned target volume (42) with ablation therapy, each ablation zone has a predetermined ablation volume, the predetermined ablation zone being defined by moving an ablation probe (12) during ablation. A robotic assembly guides or controls the ablation probe (12) along a non-stationary motion path which is defined by a trajectory, velocity and/or acceleration, and a rotation to apply ablation therapy to the target volume according to the predetermined ablation zone(s).