Steerable medical catheter comprising: a tubular body having a longitudinal axis and a distal portion for insertion into a subject; a first pull wire; a second pull wire; a piezoelectric transducer comprising a first electrode and a second electrode; wherein the tubular body includes a first pull wire lumen and a second pull wire lumen that each extend parallel to the longitudinal axis; wherein the first pull wire is disposed in the first pull wire lumen; wherein the second pull wire is disposed in the second pull wire lumen; and wherein the first pull wire lumen and the second pull wire lumen each include an electrically insulating lumen wall; wherein at the distal portion of the catheter the first pull wire and the second pull wire are each mechanically coupled to the tubular body at respective first and second offset positions (109, 110) with respect to the longitudinal axis for imparting a curvature on the distal portion of the catheter; wherein at the distal portion of the catheter the first pull wire is electrically connected to the first electrode of the piezoelectric transducer and the second pull wire is electrically connected to the second electrode of the piezoelectric transducer; characterized in that: the tubular body comprises an inner liner, a reinforcement layer, and an outer sheath; and the inner liner, the reinforcement layer and the outer sheath each extend coaxially along the longitudinal axis of the catheter such that the reinforcement layer is disposed between the inner liner and the outer sheath; and the inner liner defines a central lumen that is coaxial with the longitudinal axis for receiving an interventional device; and at the distal portion of the catheter the first pull wire lumen and the second pull wire lumen are each disposed in the inner liner; and the reinforcement layer comprises a conductive material for electrically shielding the first pull wire and the second pull wire. a tubular body having a longitudinal axis and a distal portion for insertion into a subject; a first pull wire; a second pull wire; a piezoelectric transducer comprising a first electrode and a second electrode; wherein the tubular body includes a first pull wire lumen and a second pull wire lumen that each extend parallel to the longitudinal axis; wherein the first pull wire is disposed in the first pull wire lumen; wherein the second pull wire is disposed in the second pull wire lumen; and wherein the first pull wire lumen and the second pull wire lumen each include an electrically insulating lumen wall; wherein at the distal portion of the catheter the first pull wire and the second pull wire are each mechanically coupled to the tubular body at respective first and second offset positions (109, 110) with respect to the longitudinal axis for imparting a curvature on the distal portion of the catheter; wherein at the distal portion of the catheter the first pull wire is electrically connected to the first electrode of the piezoelectric transducer and the second pull wire is electrically connected to the second electrode of the piezoelectric transducer; characterized in that: the tubular body comprises an inner liner, a reinforcement layer, and an outer sheath; and the inner liner, the reinforcement layer and the outer sheath each extend coaxially along the longitudinal axis of the catheter such that the reinforcement layer is disposed between the inner liner and the outer sheath; and the inner liner defines a central lumen that is coaxial with the longitudinal axis for receiving an interventional device; and at the distal portion of the catheter the first pull wire lumen and the second pull wire lumen are each disposed in the inner liner; and the reinforcement layer comprises a conductive material for electrically shielding the first pull wire and the second pull wire. the tubular body comprises an inner liner, a reinforcement layer, and an outer sheath; and the inner liner, the reinforcement layer and the outer sheath each extend coaxially along the longitudinal axis of the catheter such that the reinforcement layer is disposed between the inner liner and the outer sheath; and the inner liner defines a central lumen that is coaxial with the longitudinal axis for receiving an interventional device; and at the distal portion of the catheter the first pull wire lumen and the second pull wire lumen are each disposed in the inner liner; and the reinforcement layer comprises a conductive material for electrically shielding the first pull wire and the second pull wire.