Abstract: Provided is a multi-degree-of-freedom steerable catheter soft robotic system, including a steerable catheter; a control circuit connected to the steerable catheter through electrical connections and selectively applying power to control the steerable catheter; and a power supply unit connected to the control circuit. The system also includes a driving circuit for driving the steerable catheter and a shielding disposed around the steerable catheter and shielding for heat and electromagnetic (EM) radiations. The present disclosure includes self-sensing shape-shifting spring coil actuators and a shape-shifting memory polymer (SMP) actuator for steerable catheter applications. In addition, the present disclosure also provides an electroless silver plating process, a silver chemical plating process, a carbon nanotube (CNT) composite process and a pneumatic process.