Abstract: For the preoperative planning problems of robot-assisted minimally invasive surgery, a multi-objective pre-operative planning algorithm is proposed. On the basis of ensuring the enough collaboration space of the instrument arms in abdominal cavity, movement interference among them is avoided as much as possible. Firstly, the mathematical model of the artificial pneumoperitoneum is established, and the optimal incision location is obtained based on the feature parameters of lesion. Secondly, the index of collaboration space outside abdominal cavity is established based on the cylinder bounding box, and the optimal placement angle of the robot is obtained according to the double collaboration space index composed of the collaboration spaces inside and outside abdominal cavity. Finally, the implementation process of the algorithm is described in detail with a set of given lesion parameters, and the optimal incision position and the placement angle are obtained by the algorithm.