A system employing an articulated steerable introducer (40), an imaging controller (22) and a steerable introducer controller (41). The articulated steerable introducer (40) includes a plurality of linkages and one or more joints interconnecting the linkages. The imaging controller (22) controls a planning of a distal steering motion of the articulated steerable introducer (40) to a target position within an anatomical region. The steerable introducer controller (41) controls an actuation of the joint(s) to distally steer the articulated steerable introducer (40) to the target position within the anatomical region as planned by the imaging controller (22).
