Focal High-Dose-Rate (HDR) for prostate cancer has gained an increasing interest as an alternative to whole gland therapy as it may contribute to reduction of treatment related toxicity. For focal treatment, optimal needle guidance and placement is warranted. This can be achieved under MRI guidance. However, MRI-guided needle placement is currently not possible due to space restrictions in the closed MR bore. To overcome this problem, a MR-compatible, single-divergent needle-implant robotic device is under development at the University Medical Centre, Utrecht (UMCU): placed between the legs of the patient inside the MR bore, this robot will tap the needle in a divergent pattern from a single rotation point into the tissue. This rotation point is just beneath the perineal skin to have access to the focal prostate tumor lesion. Currently, there is no treatment planning system commercially available which allows optimization of the dose distribution with such needle arrangement. The aim of this work is to develop an automatic inverse dose planning optimization tool for focal HDR prostate brachytherapy with needle insertions in a divergent configuration. A complete optimizer workflow is proposed which includes the determination of (1) the position of the center of rotation, (2) the needle angulations and (3) the dwell times. Unlike most currently used optimizers, no prior selection or adjustment of input parameters such as minimum or maximum dose or weight coefficients for treatment region and organs at risk is required. To test this optimizer, a planning study was performed on 10 patients (treatment volumes ranged from 8.5cm 3 to 23.3cm 3 ) by using 2 to 14 needle insertions. The total computation time of the optimizer workflow was below 20 minutes and a clinically acceptable plan was reached on average using only four needle insertions.Read less <