In order to improve the efficiency of the motion path planning of virtual human arms when it is repairing in complex multi-obstacle space, we propose a path planning method based on the heuristic Bi-RRT algorithm. Combining with the heuristic searching idea based on the Bi-RRT algorithm, we make a  path planning of the wrist joint. Multiple  distances between the random search point and the target point are compared, and the random search points with the shortest distance to the target point are remained. This makes the random tree have a certain direction of expansion and invalid search is reduced. Simulation results show that the heuristic Bi-RRT algorithm has better search results and a higher search efficiency than the traditional RRT algorithm and Bi-RRT algorithm. It also has a good effect on the motion path planning of 7-DOF virtual arms.