X-ray imaging system for a robotic catheter, comprising - a robotic catheter, and - a processing unit, said processing unit being connectable to an X-ray image data source for receiving X-ray image data of a patient environment and connectable to said robotic catheter, wherein said processing unit is adapted to a) receive one or more auxiliary information items received from at least one of said data source and said catheter, and b) determine a set of possible three-dimensional orientations and positions of the catheter as a function of said image data and said one or more auxiliary information items, wherein the processing unit is adapted to perform at least one of: c) rendering an image of said set and at least one of said image data and a three-dimensional representation of the patient environment, and providing said image to a visualization device; and d) providing feedback to said robotic catheter, said feedback being a function of the set of possible orientations and positions; the system further comprising: an input device adapted to receive user input, said user input representing a user choice of one out of the set of possible orientations and positions of the catheter displayed by the visualization device, wherein the input device is adapted to communicate said user input to the processing unit, the processing unit being adapted to process said user input into a set of steering commands, and said feedback being to provide said set of steering commands to the robotic catheter. - a robotic catheter, and - a processing unit, said processing unit being connectable to an X-ray image data source for receiving X-ray image data of a patient environment and connectable to said robotic catheter, wherein a) receive one or more auxiliary information items received from at least one of said data source and said catheter, and b) determine a set of possible three-dimensional orientations and positions of the catheter as a function of said image data and said one or more auxiliary information items, wherein the processing unit is adapted to perform at least one of: c) rendering an image of said set and at least one of said image data and a three-dimensional representation of the patient environment, and providing said image to a visualization device; and d) providing feedback to said robotic catheter, said feedback being a function of the set of possible orientations and positions; the system further comprising: an input device adapted to receive user input, said user input representing a user choice of one out of the set of possible orientations and positions of the catheter displayed by the visualization device, wherein the input device is adapted to communicate said user input to the processing unit, the processing unit being adapted to process said user input into a set of steering commands, and said feedback being to provide said set of steering commands to the robotic catheter. an input device adapted to receive user input, said user input representing a user choice of one out of the set of possible orientations and positions of the catheter displayed by the visualization device, wherein the input device is adapted to communicate said user input to the processing unit, the processing unit being adapted to process said user input into a set of steering commands, and said feedback being to provide said set of steering commands to the robotic catheter.