Motorized systems and methods for accessing the lumen of a vessel

A method for accessing the lumen of a vessel, the method comprising the steps of:

• attaching an image capturing instrument to an imaging device attachment of a main body providing an arc-like structure;
• attaching a disposable cartridge to the main body, wherein the main body comprises,
• an imaging device attachment adjacent to a pivot point positioned at a center of said arc-like structure, wherein the imaging device attachment is utilized to secure an image capturing instrument to the main body,
• a cartridge carrier coupled to said pivot point, wherein the cartridge carrier is adjustable to achieve a target insertion depth,
• a depth motor coupled to the cartridge carrier, wherein the depth motor adjusts the cartridge carrier to achieve the target insertion depth,
• a first actuator slideably coupled to said cartridge carrier, wherein the first actuator is coupled to a needle or sheath,
• a stop bar positioned on said main body in a sliding direction of the first actuator, and
• an extension extending from said first actuator, wherein said extension contacts said stop bar to impede advancement when said first actuator is advanced a predetermined length;
• determining a depth of the vessel with an imaging device, wherein the depth of the vessel is the target insertion depth;
• adjusting the cartridge carrier to achieve the target insertion depth;
• and
• actuating a controller, wherein the controller causes a guidewire, the sheath, or the needle in the disposable cartridge to advance a first predetermined distance.