A controller for controlling a robotic device configured to operate an interventional device into an anatomical structure of a subject, the interventional device comprising an outer device and an inner device movably positioned within the outer device, the controller comprising: a memory that stores instructions and a library of a plurality of modules of predefined motions for navigating through anatomical structures; and a processor that executes the instructions, wherein, when executed by the processor , the instructions cause the controller to: receive, from an imaging device, image data from an image of a portion of the interventional device and a branched intersection of a plurality of branches of the anatomical structure, including a main branch and a target branch which is branched from the main branch; analyze the image data to measure at least one of a location or an orientation of a distal portion of the outer device and of a distal portion of the inner device in the image, with respect to vasculature including the main branch and the target branch and an intersection of the main branch and the target branch in the image; determine, based on analyzing the image data, a path for the interventional device through the anatomical structure to a target using the modules of predefined motions stored in the memory , the path being defined by a sequence of predefined motions; and display at least a portion of the path on a display such that the predefined motions of this portion are represented. a memory that stores instructions and a library of a plurality of modules of predefined motions for navigating through anatomical structures; and a processor that executes the instructions, wherein, when executed by the processor , the instructions cause the controller to: receive, from an imaging device, image data from an image of a portion of the interventional device and a branched intersection of a plurality of branches of the anatomical structure, including a main branch and a target branch which is branched from the main branch; analyze the image data to measure at least one of a location or an orientation of a distal portion of the outer device and of a distal portion of the inner device in the image, with respect to vasculature including the main branch and the target branch and an intersection of the main branch and the target branch in the image; determine, based on analyzing the image data, a path for the interventional device through the anatomical structure to a target using the modules of predefined motions stored in the memory , the path being defined by a sequence of predefined motions; and display at least a portion of the path on a display such that the predefined motions of this portion are represented. receive, from an imaging device, image data from an image of a portion of the interventional device and a branched intersection of a plurality of branches of the anatomical structure, including a main branch and a target branch which is branched from the main branch; analyze the image data to measure at least one of a location or an orientation of a distal portion of the outer device and of a distal portion of the inner device in the image, with respect to vasculature including the main branch and the target branch and an intersection of the main branch and the target branch in the image; determine, based on analyzing the image data, a path for the interventional device through the anatomical structure to a target using the modules of predefined motions stored in the memory , the path being defined by a sequence of predefined motions; and display at least a portion of the path on a display such that the predefined motions of this portion are represented. <EOS>