Abstract: A method includes instructing an image capture device to move across an anatomy portion of a subject and capture a sequence of ultrasound image frames. For each corresponding ultrasound image frame, the method includes processing the corresponding ultrasound image frame to generate a respective vessel mask that identifies one or more vessel portions of the corresponding ultrasound image frame. The method also includes processing the vessel masks generated for the sequence of ultrasound image frames and corresponding three-dimensional position data to generate a three-dimensional vessel structure map representing vessels within the anatomy portion of the subject. The method also includes processing the three-dimensional vessel structure map to select a candidate vessel to target for venipuncture from the vessels represented in the three-dimensional vessel structure map.