The present disclosure describes a catheter guide tool. More particularly, the catheter guide tool is a bi-stable device used for the insertion and advancement of a catheter. The catheter guide tool includes a gimbal. A guide axis runs through the gimbal. A catheter advancement mechanism is coupled to the gimbal and configured to advance the catheter along the guide axis. The guide tool also includes a pivot assembly coupling the gimbal to a support platform. The pivot assembly is configured to pivot the guide axis from a first position perpendicular to a target surface to a second position tangential to the target surface along a single primary plane of rotation of the gimbal.