  Advanced resuscitative technologies, such as Extra Corporeal Membrane
Oxygenation (ECMO) cannulation or Resuscitative Endovascular Balloon Occlusion
of the Aorta (REBOA), are technically difficult even for skilled medical
personnel. This paper describes the core technologies that comprise a
teleoperated system capable of granting femoral vascular access, which is an
important step in both of these procedures and a major roadblock in their wider
use in the field. These technologies include a kinematic manipulator, various
sensing modalities, and a user interface. In addition, we evaluate our system
on a surgical phantom as well as in-vivo porcine experiments. These resulted
in, to the best of our knowledge, the first robot-assisted arterial
catheterizations; a major step towards our eventual goal of automatic catheter
insertion through the Seldinger technique.
