Systems and methods are provided for performing a minimallyinvasive procedure in an automated or semi-automated fashion, where animaging probe having an imaging modality compatible with the presence ofan intraluminal medium is employed to record images that are processed toidentify regions of interest and direct a medium displacement operationduring a subsequent minimally invasive operation that benefits from thedisplacement of the intraluminal medium. The minimally invasive operation mayinclude recording images with a second imaging modality, or may be atherapeutic treatment. The method is may be performed in real-time, whereimagesobtained from the first imaging modality are processed in real time todetermine whether or not the minimally invasive operation is to be performedat agiven position.
