Exhibit 23.1

CONSENT OF INDEPENDENT REGISTERED PUBLIC ACCOUNTING FIRM

We consent to the incorporation by reference in this Registration Statement on Form S-8 of our report dated March 16, 2021, relating to the financial statements of Ra Medical Systems, Inc., appearing in the Annual Report on Form 10-K of Ra Medical Systems, Inc. for the year ended December 31, 2020.

/s/ DELOITTE & TOUCHE LLP

San Diego, California

March 16, 2021