A robotic catheter manipulator assembly comprising: a support member including at least one catheter manipulation base and at least one sheath manipulation base movable relative to each other and to the support member, each respective manipulation base (308, 310) being releasably connectable to at least one catheter cartridge and at least one sheath cartridge; and at least one drive mechanism (312, 314) for moving the catheter and sheath manipulation bases (308, 310) relative to each other and to the support member, characterized in further comprising: integrated force sensors operatively connected to the respective cartridge (402, 404) for measuring a corresponding tensioning of steering wires for controlling movement of a component connected to the respective cartridge (402, 404), wherein the component is the catheter or the sheath, wherein one of the catheter manipulation base and the catheter cartridge includes at least one first element engageable with at least one complementary second element slidably engaged with the other one of the catheter manipulation base and the catheter cartridge for controlling movement of the catheter connected to the catheter cartridge, wherein one of the sheath manipulation base and the sheath cartridge includes at least one first element engageable with at least one complementary second element slidably engaged with the other one of the sheath manipulation base and the sheath cartridge for controlling movement of the sheath connected to the sheath cartridge, and wherein the assembly further comprises a drive mechanism for moving at least one of the first and second elements. a support member including at least one catheter manipulation base and at least one sheath manipulation base movable relative to each other and to the support member, each respective manipulation base (308, 310) being releasably connectable to at least one catheter cartridge and at least one sheath cartridge; and at least one drive mechanism (312, 314) for moving the catheter and sheath manipulation bases (308, 310) relative to each other and to the support member, characterized in further comprising: integrated force sensors operatively connected to the respective cartridge (402, 404) for measuring a corresponding tensioning of steering wires for controlling movement of a component connected to the respective cartridge (402, 404), wherein the component is the catheter or the sheath, wherein one of the catheter manipulation base and the catheter cartridge includes at least one first element engageable with at least one complementary second element slidably engaged with the other one of the catheter manipulation base and the catheter cartridge for controlling movement of the catheter connected to the catheter cartridge, wherein one of the sheath manipulation base and the sheath cartridge includes at least one first element engageable with at least one complementary second element slidably engaged with the other one of the sheath manipulation base and the sheath cartridge for controlling movement of the sheath connected to the sheath cartridge, and wherein the assembly further comprises a drive mechanism for moving at least one of the first and second elements. integrated force sensors operatively connected to the respective cartridge (402, 404) for measuring a corresponding tensioning of steering wires for controlling movement of a component connected to the respective cartridge (402, 404), wherein the component is the catheter or the sheath, wherein one of the catheter manipulation base and the catheter cartridge includes at least one first element engageable with at least one complementary second element slidably engaged with the other one of the catheter manipulation base and the catheter cartridge for controlling movement of the catheter connected to the catheter cartridge, wherein one of the sheath manipulation base and the sheath cartridge includes at least one first element engageable with at least one complementary second element slidably engaged with the other one of the sheath manipulation base and the sheath cartridge for controlling movement of the sheath connected to the sheath cartridge, and wherein the assembly further comprises a drive mechanism for moving at least one of the first and second elements.