Abstract: A robotic system comprising a robotic catheter steerable by a motorized drive system, an imaging device positioned on a distal end of the robotic catheter, and a controller configured to: process one or more images captured by the imaging device to identify an anatomical feature, implanted device, or medical instrument; estimate a location of the imaging device in the body based on the identified anatomical feature, implanted device, or medical instrument; determine, based on the estimated location of the imaging device, a direction in which to steer the robotic catheter for advancement towards an interventional site; and monitor at least one of (i) a stream of images captured by the imaging device and (ii) a force or distance measurement captured by the imaging device or a sensor proximate the imaging device, to adjust the direction in which to steer the robotic catheter during advancement towards the interventional site.