Robotic catheter system and methods

A robotic medical system, comprising:

• an instrument driver comprising a motor and an instrument interface, the instrument interface comprising a drive element operatively coupled to the motor;
• a steerable catheter comprising:
• an elongate body defining a lumen,
• a control element extending through the elongate body to a distal end portion of the steerable catheter, and
• an instrument base operatively coupled to the instrument interface, the instrument base comprising a pulley operatively coupled to the control element and the drive element such that actuation of the drive element by the motor actuates the pulley causing actuation of the control element and the distal end portion;
• a controller having control logic configured to operate the motor of the instrument driver;
• and
• an ultrasound transducer integrated in the steerable catheter and configured to acquire data,
• wherein the data acquired from the ultrasound transducer during movement through a patient is used by the controller, based on the control logic, to control the motor of the instrument driver to actuate the distal end portion of the steerable catheter to navigate the steerable catheter through the patient.