Abstract: Various aspects of the present disclosure may be directed toward apparatuses, systems, and methods that include a medical device including an elongate body having a proximal portion, a distal portion, and three mutually perpendicular planes. The medical device may include a first steering line and a second steering line and a first stiffening material and a second stiffening material. The first stiffening material and the second stiffening material may be configured to maintain planarity of deflection of at least the distal portion of the elongate body.