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Vessel is a catch-all term, like 'watercraft', which describes any floating object used for the carriage of people or goods. Generally smaller and less complex vessels are 'boats', whilst larger and more complex vessels are 'ships'. As a general rule, you can put a boat on a ship, but you can't put a ship on a boat.
A blood vessel is a channel or conduit through which blood is distributed to body tissues. Based on their structure and function, blood vessels are classified as either arteries, capillaries, or veins. In humans, the blood vessels make up two closed systems of tubes that begin and end at the heart.