A system for percutaneous access to a body of a patient, comprising: a steerable tube, having a proximal section including a proximal end, and a distal section including a distal end, the tube being shaped to define: a primary lumen between the proximal end and the distal end, and defining a central axis of the steerable tube, and two secondary lumens, each of the secondary lumens extending longitudinally from the proximal section to the distal section; two wires (29a, 29b), each of the wires extending from the distal section proximally through a respective one of the secondary lumens; a handle (22, 24, 101), coupled to the proximal section of the tube, and comprising a steering knob that is coupled to the wires (29a, 29b) such that rotation of the steering knob adjusts a degree of tension in the wires (29a, 29b); a pull ring: coupled to the distal section of the tube such that the pull ring circumscribes the central axis at the distal section of the tube, and defining two recesses in an inner or outer surface of the pull ring, a distal end portion of each wire (29a, 29b) being disposed in a respective one of the recesses; and two caps (2602a, 2602b), each of the caps (2602a, 2602b) bridging at least part of a respective one of the recesses and the distal end portion of a respective one of the wires (29a, 29b), wherein the distal end portion of the respective one of the wires (29a, 29b) is: aligned parallel with the central axis, and sandwiched between the respective one of the caps (2602a, 2602b) and the pull ring. a primary lumen between the proximal end and the distal end, and defining a central axis of the steerable tube, and two secondary lumens, each of the secondary lumens extending longitudinally from the proximal section to the distal section; two wires (29a, 29b), each of the wires extending from the distal section proximally through a respective one of the secondary lumens; a handle (22, 24, 101), coupled to the proximal section of the tube, and comprising a steering knob that is coupled to the wires (29a, 29b) such that rotation of the steering knob adjusts a degree of tension in the wires (29a, 29b); a pull ring: coupled to the distal section of the tube such that the pull ring circumscribes the central axis at the distal section of the tube, and defining two recesses in an inner or outer surface of the pull ring, a distal end portion of each wire (29a, 29b) being disposed in a respective one of the recesses; and coupled to the distal section of the tube such that the pull ring circumscribes the central axis at the distal section of the tube, and defining two recesses in an inner or outer surface of the pull ring, a distal end portion of each wire (29a, 29b) being disposed in a respective one of the recesses; and two caps (2602a, 2602b), each of the caps (2602a, 2602b) bridging at least part of a respective one of the recesses and the distal end portion of a respective one of the wires (29a, 29b), wherein the distal end portion of the respective one of the wires (29a, 29b) is: aligned parallel with the central axis, and sandwiched between the respective one of the caps (2602a, 2602b) and the pull ring. aligned parallel with the central axis, and sandwiched between the respective one of the caps (2602a, 2602b) and the pull ring.