Patent ID: 8591460

Claim:
A catheter, comprising: a handle; a shaft comprising a proximal end and a distal end, said proximal end coupled to said handle; and first and second steerable actuators coupled to said shaft so as to define a first region between said first steerable actuator and said proximal end, a second region between said first and second steerable actuators, and a third region between said distal end and said second steerable actuator; wherein: said handle comprises first and second actuators coupled to said first and second steerable actuators, respectively, said first actuator configured to apply a force to said first actuator and deflect said shaft in said second region, said second actuator configured to apply a force to said second actuator and deflect said shaft in said third region; said first region comprises a spiral reinforced section extending from said first steerable actuator towards said handle; said first region further comprises a braided reinforced section extending from a proximal end of said spiral reinforced section towards said handle; and said first region remains substantially straight during the deflection of one or both of said second and third regions.