The invention describes an autonomous catheterization assembly (1) comprising a catheter arrangement (C, 10) for insertion into the vascular system (20) of a patient (2), which catheter arrangement (C, 10) comprises a sensor arrangement (S1, S2, S3) adapted to sense a condition in the interior of a vessel (200) of the vascular system (20) a shape adjustment means (100) arranged in a distal portion (10D) of the catheter arrangement (C, 10) and an actuator arrangement (101A, 101B) realised to control the shape adjustment means (100) to adjust the shape and/or orientation of the distal portion (10D) of the catheter arrangement (C, 10). The autonomous catheterization assembly (1) further comprises a propulsion assembly (11, 11C, 11G) adapted to propel elements (C, 10) of the catheter arrangement (C, 10) through the vascular system (20) of a patient (2) a route computation module (12) realized to compute a route (R) through the vascular system (20) to a target (21) and a control unit (13) realized to actuate the propulsion assembly (11) on the basis of the computed route (R) and/or in response to a sensed condition in the interior of a vessel (200) of the vascular system (20). The invention further describes a catheter arrangement (C, 10) of a catheterization assembly and a method of performing an autonomous catheterization procedure on a patient (2).
