An embodiment of the invention provides a method including obtaining ultrasonic images of one or more vessel to be catheterized with an ultrasonic imaging device 212 and identifying the center(s) of the vessel(s) with the ultrasonic images. One of the vessels is punctured with a needle 220 based on the identifying of the center of the vessel. A guide wire 230 is inserted into the vessel and maneuvered with guide wire ultrasonic feedback control. The guide wire ultrasonic feedback control includes obtaining ultrasonic images of the vessel and the guide wire 230 in the vessel, and displaying the ultrasonic images of the vessel and the guide wire 230 in the vessel to a user. A catheter sheath 240 is inserted over the guide wire 230 and maneuvered with sheath ultrasonic feedback control. The guide wire 230 is removed and a catheter 250 is inserted into the catheter sheath 240 and maneuvered with catheter ultrasonic feedback control.