A Chronic Total Occlusion is a type of heart disease which can be better treated with catheter based approaches that offer smaller incisions and exploit the vessels as access routes to remote anatomic regions. Making the catheters steerable and utilizing non-ionizing imaging techniques and robotic control approaches can further help enhance the safety. Further, remote actuation with magnetic fields could be useful to traverse tortuous vessels. In this work, a prototype of a medical robotic platform aimed at magnetic catheterization is shown. The system is designed to operate in two stages. Initially, a multi-lumen steerable guide catheter is advanced and positioned at pre-defined positions in the aorta. Then, a magnetic catheter is advanced through one of its lumen and guided to the left coronary artery under the influence of magnetic fields. An optimal position for the placement of the guide catheter for effective catheterization is evaluated.