Abstract: A catheterization apparatus includes a catheter having a steering mechanism for deflecting a distal portion of the catheter by operation of relative bending stiffnesses of a drive tube and of a core wire. The catheter is remotely controlled from a control station via a rotatable actuation device which supports actuators for providing translation and rotation motions. The catheter is looped and rigidly guided in a channel controlling a distal length of the catheter.