A robotic surgical system for executing a procedural treatment of an anatomical structure within an anatomical region, the robotic surgical system comprising: a treatment catheter ; an articulated robot insertable within the anatomical region and operable to navigate the treatment catheter within the anatomical region, wherein the articulated robot includes a plurality of linkages and at least one joint interconnecting the plurality of linkages; a registration control module operable, responsive to a reception of the preoperative image and a reception of an intraoperative image registered to the articulated robot , to control an image registration between the preoperative image and the intraoperative image based on a delineation of the anatomical structure as illustrated within the preoperative image and the intraoperative image ; a transformation control module operable, responsive to the image registration between the preoperative image and the intraoperative image , to control a transformation of a planned treatment path relative to the anatomical structure as illustrated within the preoperative image into an intraoperative treatment path within the anatomical region relative to the anatomical structure; and a robot controller operable in communication with the at least one joint to control a navigation by the articulated robot of the treatment catheter along the intraoperative treatment path within the anatomical region relative to the anatomical structure derived from the planned treatment path within the anatomical region relative to the anatomical structure based on the registration between the intraoperative image illustrative of the articulated robot within the anatomical region relative to the anatomical structure and the preoperative image illustrative of the planned treatment path within the anatomical region relative to the anatomical structure. a treatment catheter ; an articulated robot insertable within the anatomical region and operable to navigate the treatment catheter within the anatomical region, wherein the articulated robot includes a plurality of linkages and at least one joint interconnecting the plurality of linkages; a registration control module operable, responsive to a reception of the preoperative image and a reception of an intraoperative image registered to the articulated robot , to control an image registration between the preoperative image and the intraoperative image based on a delineation of the anatomical structure as illustrated within the preoperative image and the intraoperative image ; a transformation control module operable, responsive to the image registration between the preoperative image and the intraoperative image , to control a transformation of a planned treatment path relative to the anatomical structure as illustrated within the preoperative image into an intraoperative treatment path within the anatomical region relative to the anatomical structure; and a robot controller operable in communication with the at least one joint to control a navigation by the articulated robot of the treatment catheter along the intraoperative treatment path within the anatomical region relative to the anatomical structure derived from the planned treatment path within the anatomical region relative to the anatomical structure based on the registration between the intraoperative image illustrative of the articulated robot within the anatomical region relative to the anatomical structure and the preoperative image illustrative of the planned treatment path within the anatomical region relative to the anatomical structure. <EOS>