The nursing robot independently developed by our research group is large in size and complex in structure, so it needs suitable path planning algorithm when it works in indoor environment. I If the path planning based on the traditional A* algorithm is adopted, the problem of collision with obstacles may occur. This paper proposes an A* algorithm for virtual obstacle points combined with segmented navigation. Improve the cost estimation function and segment the planning and increase the virtual obstacle points, so that the overall path is centered away from obstacles, avoiding the head and foot collision obstacles. Experimental results show that the proposed algorithm is compared to the traditional A* algorithm: the navigation path is centered, the operation time is increased by 35%-47%, the turning point and the cumulative turning angle are reduced by 50%-80%, and the path length is basically unchanged. The proposed algorithm can meet the safety requirements of nursing and lifting robots, and at the same time improve the computing efficiency to some extent.