A method or workflow for heart valve replacement, or more precisely emplacement of a prosthetic heart valve, using minimally invasive procedures includes imaging of the patients heart during the procedure using a multi-access articulated x-ray imaging robot that allows a radiation detector carried by the robot to be moved in arbitrary paths around a patient in order to generate multiple projection exposures of the relevant region of the patient during the procedure. The imaging system is used to generate two dimensional image data during movement of the catheter and prosthetic heart valve into place and to generate three dimensional image data of the prosthetic heart valve within the patients heart. The two dimensional image data and the three dimensional image data are registered and superimposed for use in positioning of the prosthetic heart valve. Additional imaging may be performed once the prosthetic heart valve is in position.
