Dynamic Vessel Roadmap Guidance

A computer-implemented pathological vessel guidance method includes the acts of generating a vessel roadmap library, the vessel roadmap library including a plurality of vessel roadmaps, wherein each vessel roadmap includes a vessel roadmap image and first and second alignment data; detecting, within the vessel roadmap images of the vessel roadmap library, a pathological vessel; obtaining a real-time fluoroscopy image and corresponding real-time first and second fluoroscopy information; selecting a vessel roadmap from the roadmap library based on comparing the first real-time fluoroscopy information with the first alignment data of each vessel roadmap of the roadmap library; overlaying the real-time fluoroscopy image with the selected vessel roadmap image of the vessel roadmap library; aligning the vessel roadmap image of the selected vessel roadmap and the real-time fluoroscopy image based on the second alignment data and the real time second fluoroscopy information; and providing guidance for a fluoroscopy object to the pathological vessel based on the selected vessel roadmap and the second fluoroscopy information.