An apparatus (10, 400, 450, 500, 550, 600) for accessing the lumen of a vessel, such as an insertion system, the apparatus comprising: a handle providing a controller for operating the apparatus; an image capturing instrument (45, 420, 470, 520, 570, 620) secured to the handle; a display secured to the handle, wherein images captured by the image capturing instrument are displayed on the display; a robotic platform coupled to the handle and configured to automatically adjust to achieve a target insertion depth; a disposable cartridge (20, 120); a sheath hub connected to a sheath and to a sheath interface, all of them being slideably coupled to the disposable cartridge and housed within the disposable cartridge (20, 120); a needle hub attached to a needle (262, 425, 475, 525, 575, 625), to a needle interface and to a sliding truck, all of them being slideably coupled to the disposable cartridge (20, 120) and housed within the disposable cartridge (20, 120); wherein the robotic platform is adapted to insert the sheath or needle (262, 425, 475, 525, 575, 625) to the target insertion depth; a sheath motor coupled to the sheath interface to make advance and retract the sheath interface, the sheath hub and the sheath, with respect to the disposable cartridge (20, 120); a needle motor coupled to the needle interface to make advance and retract the needle interface, the needle hub, the sliding truck and the needle (262, 425, 475, 525, 575, 625), with respect to the disposal cartridge (20, 120); a clear sterile cover for the disposable cartridge (20, 120); and wherein the disposable cartridge (20, 120) is pivotally attached to the robotic platform, and the disposable cartridge (20, 120) is enclosed in said clear sterile cover. a handle providing a controller for operating the apparatus; an image capturing instrument (45, 420, 470, 520, 570, 620) secured to the handle; a display secured to the handle, wherein images captured by the image capturing instrument are displayed on the display; a robotic platform coupled to the handle and configured to automatically adjust to achieve a target insertion depth; a disposable cartridge (20, 120); a sheath hub connected to a sheath and to a sheath interface, all of them being slideably coupled to the disposable cartridge and housed within the disposable cartridge (20, 120); a needle hub attached to a needle (262, 425, 475, 525, 575, 625), to a needle interface and to a sliding truck, all of them being slideably coupled to the disposable cartridge (20, 120) and housed within the disposable cartridge (20, 120); wherein the robotic platform is adapted to insert the sheath or needle (262, 425, 475, 525, 575, 625) to the target insertion depth; a sheath motor coupled to the sheath interface to make advance and retract the sheath interface, the sheath hub and the sheath, with respect to the disposable cartridge (20, 120); a needle motor coupled to the needle interface to make advance and retract the needle interface, the needle hub, the sliding truck and the needle (262, 425, 475, 525, 575, 625), with respect to the disposal cartridge (20, 120); a clear sterile cover for the disposable cartridge (20, 120); and wherein the disposable cartridge (20, 120) is pivotally attached to the robotic platform, and the disposable cartridge (20, 120) is enclosed in said clear sterile cover.