An intervention system employing an interventional robot (30), an interventional imaging modality (10) and an interventional controller (70). In 5 operation, the interventional controller (70) navigates an anatomical roadmap (82) of an anatomical region of a patient in accordance with an interventional plan to thereby control a navigation of the interventional robot (30) within the anatomical region in accordance with the anatomical roadmap (82). Upon a detection by the interventional controller (70) of an occurrence of the interventional controller (70) navigating 10 proximately to a critical anatomical location within the anatomical roadmap (82), the interventional controller (70) pauses the navigation of the interventional robot (30) within anatomical region and autonomously controls an operation of the interventional imaging modality (10) for generating an updated anatomical roadmap (82) of the anatomical region whereby the interventional controller (70) navigates the updated 15 anatomical roadmap (82) of the anatomical region in accordance with the interventional plan to thereby control a resumed navigation of the interventional robot (30) within the anatomical region.