A steerable catheter (100, 200, 300, 400, 500), comprising: a flexible catheter body including a proximal shaft section (120, 220, 320, 420, 520), a distal articulating section (114, 214, 314, 414, 514) and a transition section (116, 216, 316, 416, 516) between the proximal shaft section and the distal articulating section; a proximal steering interface coupled to the proximal shaft section; at least one hollow axially stiffening member comprising at least one hollow tube (130, 230, 330) extending through the proximal shaft section, the at least one stiffening member being laterally offset from a geometric cross-sectional center of the proximal shaft section; a plurality of lumens (110, 210, 310, 410, 510) extending through the distal articulating section (114, 214, 314, 414, 515), wherein the lumens are equally circumferentially spaced, and further extending through the transition section (116, 216, 316, 416, 516), wherein the lumens spiral around the length of the transition section to gradually converge onto one side of the proximal shaft section (120, 220, 320, 420, 520); and a plurality of pullwires extending through the at least one hollow stiffening member in the proximal shaft section, wherein each of the plurality of pullwires further extends through one of the lumens in the transition section and the distal articulating section, each of the pullwires having a distal end that terminates in the catheter body distal to the distal articulating section and a proximal end that terminates in the proximal steering interface, wherein the proximal steering interface is manipulatable to selectively tension the plurality of pullwires to bend the distal articulating section. a flexible catheter body including a proximal shaft section (120, 220, 320, 420, 520), a distal articulating section (114, 214, 314, 414, 514) and a transition section (116, 216, 316, 416, 516) between the proximal shaft section and the distal articulating section; a proximal steering interface coupled to the proximal shaft section; at least one hollow axially stiffening member comprising at least one hollow tube (130, 230, 330) extending through the proximal shaft section, the at least one stiffening member being laterally offset from a geometric cross-sectional center of the proximal shaft section; a plurality of lumens (110, 210, 310, 410, 510) extending through the distal articulating section (114, 214, 314, 414, 515), wherein the lumens are equally circumferentially spaced, and further extending through the transition section (116, 216, 316, 416, 516), wherein the lumens spiral around the length of the transition section to gradually converge onto one side of the proximal shaft section (120, 220, 320, 420, 520); and a plurality of pullwires extending through the at least one hollow stiffening member in the proximal shaft section, wherein each of the plurality of pullwires further extends through one of the lumens in the transition section and the distal articulating section, each of the pullwires having a distal end that terminates in the catheter body distal to the distal articulating section and a proximal end that terminates in the proximal steering interface, wherein the proximal steering interface is manipulatable to selectively tension the plurality of pullwires to bend the distal articulating section.