A system guides a medical instrument or like implement through an anatomical body such as a human patient. The system may include a drive system which moves the implement through the anatomical body, and a controller that directs the operation of the drive system. The system may also include a plotting system that provides an image of a region of the anatomical body and automatically plots a path for the implement to a site of interest, while the controller directs the drive system to move the implement to the site of interest over the path identified in the image.