Abstract: An intravascular delivery system includes a delivery sheath capable of transmitting a predetermined tension or compression force in a longitudinal direction while maintaining flexibility to navigate tortuous anatomy. A method of delivering a medical device includes inserting an intravascular device delivery system including a delivery sheath having a continuous spine into a bodily lumen. A distal longitudinal force is applied to the delivery sheath. The distal force is transmitted through the continuous spine and across one or more slit cuts of the delivery sheath. A proximal longitudinal force is applied to the delivery sheath. The proximal longitudinal force is transmitted through the continuous spine of the delivery sheath.

Abstract: A catheter that includes a mechanism for deflecting a distal portion of a catheter may include a deflection knob including a first thread, a rod including a second thread that is coupled to the first thread, and a puller wire that is connected to the rod. The rod may additionally include a pocket to which the puller wire may be connected via a joining feature that may be secured in the pocket and attached to a proximal end of the puller wire. The joining feature may include a first ferrule joined, e.g., crimped, to the proximal end of the puller wire and a second ferrule secured, e.g., bonded, in the pocket and joined, e.g., crimped, to the first ferrule.

Abstract: An imaging catheter assembly is provided. In one embodiment, the imaging catheter assembly includes a flexible elongate member including a distal portion and a proximal portion; a crown element coupled to the distal portion, wherein the crown element includes an annular ring, a first post and, a second post, and wherein the first post and the second post extend from the annular ring; a first pullwire anchored to the annular ring at the first post and extending along the flexible elongate member from the crown element to the proximal portion of the flexible elongate member; a second pullwire anchored to the annular ring at the first post and extending along the flexible elongate member from the crown element to the proximal portion of the flexible elongate member; and an imaging component coupled to the distal portion.

Abstract: Disclosed herein is a medical leadless pacemaker delivery system adapted to engage and disengage with leadless pacemakers to allow for the repeated use of the leadless pacemaker delivery system in delivering and implanting multiple leadless pacemakers into a patient heart in a serial or repeated manner. The leadless pacemaker delivery system includes a handle, an attachment mechanism, a torque portion, and a rotation limiter. The handle includes a housing. The attachment mechanism is operably coupled to the housing and configured to actuate between a released state and an engaged state. The torque portion is operably coupled to the housing and rotatable relative to the housing to transition the attachment mechanism between the released and engaged states. The torque portion includes a shaft. The rotation limiter is in sliding engagement with the shaft between a first stop and a second stop. The rotation limiter includes a first helical thread.

Abstract: A medical device includes a sheath extending longitudinally from a proximal end to a distal end and a handle coupled to the proximal end of the sheath. The handle includes a deflection lever coupled thereto. The deflection lever is rotatable proximally and distally along the handle to deflect a distal end of the shaft to which it is operably coupled and a locking mechanism movable between an locked configuration in which the locking mechanism engages an engagement feature on the outer surface of the handle, preventing the deflection lever from rotating and locking the distal end of the shaft in a desired position, and an unlocked configuration in which the locking mechanism releases the engagement feature to allow rotation of the deflection lever and deflection of the distal end of the shaft.

Abstract: A robotic surgical instrument, comprising: a shaft; an articulation at a distal end of the shaft for articulating an end effector, the articulation being driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising: a chassis; an instrument interface element slideable along a guide bar for driving the pair of driving elements, wherein the pair of driving elements are fast with respect to the interface element so that a displacement of the instrument interface element with respect to the guide bar is transferred to the pair of driving elements; the chassis comprising a support element configured to interface the guide bar along at least a portion of its length; and a securing element for retaining the guide bar against the support element to thereby secure the guide bar to the chassis.

Abstract: An endoscope includes a first pulling section, an first elongated member, a restricting portion, a sliding surface, and a partition. The restricting portion is provided inside the operation section, and is configured to restrict a position of the first pulling section. The sliding surface is provided in the restricting portion, and allows the first pulling section to move along the axial direction. The partition covers at least a part of the sliding surface and the first pulling section, and is configured to partition the first elongated member and the first pulling section. The partition and the restricting portion are configured to restrict a moving range of the connection portion within a range of the sliding surface.

Abstract: Aspects of the present disclosure are directed to intravascular electrophysiology catheters including a catheter handle with a steering-wire locking mechanism.

Abstract: A tube like member having a first flexible portion comprising a first and a second circumferential slits, the first circumferential slit is arranged opposite to the second circumferential slit and comprises a first end and a second end, the second circumferential slit comprises a third end and a fourth end, wherein the first end and the third end are arranged such that a first bridge is provided between said first and second circumferential slits characterized in that the first flexible portion comprises a first longitudinal slit arranged longitudinally along the tube like member and a second longitudinal slit arranged longitudinally along the tube like member, wherein the first circumferential slit is communicatively connected to the first longitudinal slit, wherein the second circumferential slit is communicatively connected to the second longitudinal slit, the first longitudinal slit and second longitudinal slit being arranged to define longitudinal sides of the first bridge.

Abstract: A handle assembly for a structural heart catheter based delivery system comprises an actuation mechanism connectable to a delivery member and adapted to move the delivery member along a longitudinal axis, a wheel element, and a force limiting coupling unit attaching the wheel element to the actuation mechanism. The force limiting coupling unit disengages the wheel element from the actuation mechanism if a mechanical force applied to the wheel element exceeds a threshold value.

Abstract: Devices for use with introducers, endoscopes and catheters, where the devices relate to an articulating mechanism that allows a working end of a medical device to be steerable in order to access or visualize targeted sites in the interior of a patient's body.

Abstract: An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising a main body; and a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of the surgical robot arm and the second portion being releasably engageable with a portion of the surgical instrument; the drive transfer element being movable relative to the main body so as to enable transfer of drive between the surgical robot arm and the surgical instrument.

Abstract: A positioning system for an imaging device, in particular a MR imaging device to position an insertion element on or in the body of a subject, in particular an animal, wherein the imaging device comprises a bore, in which the subject is received, wherein the positioning system comprises a robot which can be at least partially arranged in the bore of the imaging device and comprises a holding element to hold the insertion element; wherein the robot further comprises at least one actuator acting on the holding element, such that an end portion of the insertion element is movable, wherein said at least one actuator is arranged with a distance D from the bore to minimize magnetic and/or electromagnetic interferences between the imaging device and the at least one actuator and said first actuator is coupled to the holding element in a form-fit- and/or a force-fit-manner.

Abstract: An ablation needle device is a needle device intended for an ablation treatment of an adrenal tumor with transvenous introduction of an injection needle into an adrenal gland. The ablation needle device includes a metal injection needle including a pointed tubular distal portion and a tubular proximal portion, and a grip portion attached to a proximal side of the injection needle. The proximal portion of the injection needle is given flexibility by forming a helical slit in a distal region of the proximal portion. An outer surface of the proximal portion is coated with resin. A distal end of the distal portion of the injection needle is closed. A plurality of fine holes are formed in an outer surface of the distal portion including the closed part. The grip portion has a liquid-injection port for supplying liquid into the lumen of the injection needle.

Abstract: A medical system includes a flexible catheter, an imaging probe, a working catheter, and a positioning system. The flexible catheter includes a plurality of first lumens and a sealing device having one or more balloons to seal the anatomic passageways at a sealing location and one or more flaps or valves to remove air from the anatomic passageways. The imaging probe and working catheter are receivable within the plurality of first lumens and extend through the sealing device. The working catheter includes one or more second lumens to receive a medical instrument. The positioning system is configured to determine a position of a distal portion of the flexible catheter, the imaging probe, or the working catheter. The medical system is configured to collapse a portion of the anatomic passageways distal of the sealing location by removing air from the anatomic passageways to facilitate ultrasound imaging using the imaging probe.

Abstract: Systems and methods are provided for navigating within the heart and attaching to the wall of the heart for performing injection of one or more agents into tissue. The system includes an outer catheter, a mid catheter slidably disposed within a lumen of the outer catheter, and a needle catheter slidably disposed within a lumen of the mid catheter. The mid catheter includes a vacuum hood attached to a mid catheter distal end such that a radiopaque distal tip of the mid catheter extends into the vacuum hood. The vacuum hood includes at least two radiopaque features, the spatial relationship of which visibly changes under fluoroscopy when the vacuum hood is under sealed vacuum.

Abstract: A meniscal repair instrument includes an articulating mechanism configured to move a needle on the tip in a controlled arc. Multiple directions of motion are provided in order to facilitate the deployment of suture anchors. In one aspect, the articulating mechanism includes a series of movable members that are coupled together by two wires that are provided with a push/pull force via a control mechanism.

Abstract: A catheter includes a shaft for insertion into an organ of a patient, an extendable distal-end assembly, and two or more strengthening elements. The extendable distal-end assembly is coupled to the shaft and includes multiple splines, at least one spline includes a flexible circuit board having one or more electrodes disposed thereon, the circuit board is configured, when the distal-end assembly is extended in the organ, to conform to a surface of the organ so as to make contact between the electrodes and the surface. The strengthening elements are distributed along the circuit board of the spline and are configured to mechanically strengthen the spline.

Abstract: A method and apparatus are disclosed for a reinforced steerable sheath assembly that is usable with an actuator comprising a shaft section defining a sheath that is operable to be deflected, and one or more pull wires that are coupled to the sheath via a coupling at a point of contact between the pull wires and the sheath. The pull wires being operable to be coupled to the actuator for actuating the pull wires. The reinforced steerable sheath assembly further comprises a means for preventing displacement of the coupling, wherein the means for preventing displacement to minimize failure at the coupling at the point of contact between the pull wires and the sheath upon actuation of the pull wires upon actuation of the actuator to deflect the sheath.

Abstract: A medical instrument may comprise a flexible shaft and a sensing coil extending within the flexible shaft. The sensing coil may include an electrical conductor wound around a flexible core. The flexible core may comprise adjacent flexible pieces of magnetically permeable material that are configured to slide relative to each other in response to a bending of the flexible core.

Abstract: A vascular interventional instrument control device capable of operating double guide wires or balloons, includes a main finger assembly, a first sub-finger assembly, a second sub-finger assembly, a driving assembly and a clamping assembly, wherein the main finger assembly, the sub-finger assembly, the driving assembly and the clamping assembly are separately installed to the body structural member and separately connected to the controller through a communication link, one of the operated double guide wires or balloons is clamped by the main finger assembly and the first sub-finger assembly, and the other is clamped by the main finger assembly and the second sub-finger assembly; and the operated double guide wires or double balloons can be separately moved axially or rotated about its own axial direction.

Abstract: An introducing device for locating a tissue region and deploying an electrode is shown and described. The introducing device may include an outer sheath. An inner sheath may be disposed within the outer sheath. The inner sheath may be configured to engage an implantable electrode. In an example, the inner sheath may comprise a stimulation probe having an uninsulated portion at or near a distal end of the delivery sheath. The outer sheath may be coupled to a power source or stimulation signal generating circuitry at a proximal end. A clinician may control application of the stimulation signal to a tissue region via the outer sheath.

Abstract: The present disclosure provides a medical instrument, including a tubular main body; a plurality of operating lines; an operating part main body provided on the base end portion of the tubular main body; a bending operating part which is configured to bend a distal portion of the tubular main body; a path defining part which is configured to define a path of the operating line in the bending operating part; and a deviation preventive member which is configured to prevent the operating line from deviating from a path defined by the path defining part; wherein the operating line becomes in a relaxed state when the bending operating part is in a fixation position, while the operating line becomes in a strained state when the bending operating part is in an operation position.

Abstract: Disclosed herein are steerable catheter assemblies and methods of steering catheters that utilize driver and follower mechanisms to accomplish independent control of catheter flex magnitude and catheter flex direction. Some embodiments include a catheter with a first pull wire and a second pull wire that flex the catheter, a control handle coupled to the catheter, a first follower connected to the first pull wire, a second follower connected to the second pull wire, and a driver disposed in the control handle and coupled to the first and second followers. The rotation of the driver coupled to the control handle moves the first and second followers in opposite directions, and axial movement of the driver moves the first and second followers in the same direction.

Abstract: An irrigated electrophysiology catheter has a tip electrode having a shell, and a support member configured to plug the shell and support one or more tip components and/or facilitate their functions. Advantageously, the support member has an electrically-conductive interface portion and an insert-molded portion, wherein the interface portion, typically constructed of a precious metal alloy, is structurally minimized, yet still configured for electrical connection with the shell and the lead wire, so as to reduce the amount and hence the cost of its manufacture, whereas the insert-molded portion is constructed of a significantly less-costly material and is readily configured with micro-complex 3-D geometry adapted to support tip structure and functions including irrigation, force sensing and temperature sensing, as a further cost savings in the manufacturing of the tip electrode by reducing materials, labor and time.

Abstract: The aim of the invention is to move a medical instrument (2) by means of a medical device (1) in the longitudinal direction of the device and in the rotation direction transversely about the longitudinal direction by an actuating apparatus (3).

Abstract: A medical probe includes a shaft, an expandable membrane and a probe maneuvering assembly (PMA). The shaft is configured for insertion into a cavity of an organ of a patient. The PMA is located inside the expandable membrane and includes a first elastic element, which is fitted along a longitudinal axis of the PMA and is configured to expand the membrane by shortening the PMA, and to collapse the membrane by elongating the PMA. The PMA further includes a second elastic element, which surrounds at least a portion of the first elastic element and is configured to deflect the membrane relative to the longitudinal axis.

Abstract: The present disclosure provides a catheter system and methods for use that includes (a) a first catheter having a first end and a second end, where the first catheter has a first diameter, (b) a second catheter having a first end and a second end, where the second catheter has a second diameter that is less than the first diameter of the first catheter, and where the second catheter is positioned at least partially within a lumen of the first catheter and is moveable relative to the first catheter, and (c) a wire having a first end and a second end, where the first end of the wire is coupled to the second catheter.

Abstract: A catheter includes an insertion tube, a flexible substrate and one or more electrical devices. The insertion tube is configured for insertion into a patient body. The flexible substrate is configured to wrap around a distal end of the insertion tube and includes electrical interconnections. The electrical devices are coupled to the flexible substrate and are connected to the electrical interconnections.

Abstract: A method for producing a distal-end assembly of a medical device, the method includes disposing a first layer on at least part of a given section among one or more sections of a flexible substrate. At one or more selected locations on the given section, which are to serve as electrodes on the distal-end assembly of the medical device, a second layer is disposed so that, when brought into contact with tissue, the second layer has a reduced impedance for transferring electrical signals to or from the tissue at a predefined frequency range, relative to the first layer. The given section is shaped to form the distal-end assembly.

Abstract: A steerable guide sheath system adapted for delivery into a patient's vasculature. The pull wire which is used to tension the deflectable portion of the sheath is wrapped or twisted around the axis of the sheath.

Abstract: Systems, devices, and methods for retracting a pull wire from a hypotube can include positioning a pull wire having an engagement bump on its proximal end within a channel of a device and sliding the pull wire proximally through a channel of a device by moving grippers of the device proximally to engage and slide the bump. Subsequent distal movement of the grippers can result in the grippers disengaging the bump without disturbing the position of the pull wire or causing the pull wire to move distally.

Abstract: A surgical robotic system automatically calibrates tubular and flexible surgical tools such as endoscopes. By compensating for unideal behavior of a surgical instrument, the surgical robotic system can accurately model motions of the surgical instrument and navigate the surgical instrument while performing a surgical procedure on a patient. During calibration, the surgical robotic system moves the surgical instrument to a target position and receives data describing an actual position and/or orientation of the surgical instrument. The surgical robotic system determines gain values based at least on the discrepancy between the target position and the actual position. The surgical instrument can include tubular components referred to as a sheath and leader. An instrument device manipulator of the surgical robotic system actuates pull wires coupled to the sheath and/or the leader, which causes the surgical instrument to articulate.

Abstract: An embodiment of the present invention provides for an elongated medical device with a hypotube backbone running through the device, and a spiral lumen spiraled around the backbone along the length of the backbone. The backbone may be formed from a nitinol alloy for increased bendability without compromising axial stiffness. The device may also incorporate a jacket around the hypotube and spiral lumen formed using either melting, molding, bonding, or casting. The spiral lumen may be configured to accommodate a variety of uses, including actuation members (e.g., pull wires), tools, and means for aspiration, irrigation, image capture, and illumination. Additionally, the present invention provides a method for constructing an elongated medical device with a hypotube backbone running through the device, and a spiral lumen spiraled around the backbone along the length of the backbone.

Abstract: A surgical tool includes a drive housing having an input shaft arranged therein for rotation, an elongate shaft that extends from the drive housing, and an end effector operatively coupled to a distal end of the elongate shaft. A cable band is coupled to the input shaft and operatively couples the input shaft to a drive cable that extends to the end effector. Rotation of the input drive correspondingly moves the cable band and thereby controls longitudinal movement of the drive cable to articulate the end effector.

Abstract: A method of manufacturing a flexible catheter with a locatable sensor includes simultaneously rotating first and second spools about a common axis, whereby first and second leads of a wire twist together to form a twisted pair of the wire, and rotating a catheter body about a longitudinal axis defined by the catheter body, whereby the twisted pair of the wire wraps about a proximal end portion of the catheter body.

Abstract: Aspects of articulating devices and methods are disclosed. An exemplary articulating device may comprise an interior core with a reinforcing extending along a central axis, an exterior layer bonded to the interior core by an interface, and a lumen extending through the exterior layer, exterior of the reinforcing element, and parallel to the central axis. A steering wire may be moveable in the lumen to articulate a distal end of the device relative to the central axis in response to a force applied to the steering wire. Related methods of manufacturing an articulating device are also described.

Abstract: Delivery devices, systems, and methods for delivering implantable leadless pacing devices are disclosed. An example method for delivering the implantable leadless pacing device may include distally advancing an intermediate tubular member of a delivery system across the tricuspid valve and into the right ventricle. An outer tubular member of the delivery device may be torqued in a first direction to guide a distal holding section along the ventricular septum. The distal tip of the distal holding section may be releaseably secured to a tissue. After securing the distal tip of the distal holding section, the outer tubular member may be torqued in a second direction opposite to the first direction and the implantable leadless pacing device incrementally deployed.

Abstract: An angioplasty catheter has a catheter body having a balloon or other radially expandable shell at its distal end. A non-axial external structure is carried over the shell and scores a stenosed region in a blood vessel when the balloon is inflated therein. The catheter has an attachment structure disposed between the catheter body and the balloon to accommodate foreshortening and rotation of the external structure as the balloon is expanded. The external structure may be part of a helical cage structure which floats over the balloon.

Abstract: A system for traversing an arterial occlusion in an artery includes a housing sized to fit in a palm of a user, an elongate drive tube configured to be rotated by the housing, the drive tube including an axially extending passage, a cylindrical member, configured to be rotationally coupled to the drive tube, such that a distal tip of the cylindrical member may be delivered to a location adjacent the arterial occlusion when the cylindrical member is coupled to the drive tube, and wherein grasping and activating the housing such that the drive tube is rotated, thereby causes the distal tip of the cylindrical member to be rotated, the rotation of the distal tip including at least a component of linear oscillation.

Abstract: The present disclosure provides a medical device comprising an actuator restraining assembly configured to assist in restraining a catheter shaft in a deflected configuration. The actuator restraining assembly may include a brake element, a release element, a connecting sheath, and a connecting rod disposed in a catheter handle, wherein the connecting sheath and connecting rod are attached to an actuator mechanism, and wherein the at brake element is attached to the connecting sheath and the release element is attached to the connecting rod. The brake element is sized and configured to contact an inner wall of the handle to thereby provide resistance to movement of actuator mechanism in a proximal direction with respect to the handle. In one embodiment, the actuator restraining assembly is configured to allow for temporary, i.e., reversible, restraining of the catheter shaft in the deflected configuration.

Abstract: A delivery apparatus includes a steerable shaft having a proximal portion, a distal portion, and a pull-wire conduit that extends through the proximal and distal portions. A pull wire extends through the conduit and has a distal portion that is fixed to the shaft. An adjustment mechanism is connected to the proximal end portion of the pull wire and configured to increase and decrease tension in the pull wire to adjust the curvature of the shaft. The distal portion of the shaft has a steerable portion including one or more layers. A compression-resistance portion is incorporated into a layer of the steerable portion, and extends angularly along a portion of a cross-section of the layer. The layer of the steerable portion into which the compression-resistance portion is incorporated has a first hardness, and the compression-resistance portion has a second hardness that is greater than the first hardness.

Abstract: A system for manipulating a guide catheter within a patient's nasal passages or sinus cavities includes a guide catheter formed from an elongate flexible member having a lumen passing there through. A wire guide is slidably disposed within the lumen of the guide catheter. The system further includes a steering member fixedly secured to a proximal end of the wire guide and a proximal hub secured to a proximal end of the guide catheter. The system further includes a recessed handle having a first recess for fixedly receiving the proximal hub of the guide catheter and a second recess for receiving the steering member, the second recess being dimensioned to permit axial and rotational movement of the steering member while disposed in the second recess.

Abstract: A deflectable catheter shaft section is disclosed comprising an elongated body extending along a longitudinal axis and comprising a distal end and a proximal end; and a plurality of lumens extending along the longitudinal axis of the elongated body, wherein at least one of the lumens is abutting at least another one of the lumens. A catheter comprising the deflectable catheter shaft section and a method of manufacturing the deflectable catheter shaft section are also disclosed. A catheter incorporating a deflectable catheter shaft section can further comprise first and second compression coils disposed over pull wires located within the catheter, wherein the compression coils are unattached to the catheter or components thereof, but can be constrained by a shaft coupler at a distal end of each of the compression coils and by at least a portion of a handle assembly at a proximal end of each of the compression coils.

Abstract: A catheter assembly includes an inner liner made of flexible material and an outer layer having a steering mechanism. A catheter assembly is provided that includes an inner liner made of flexible material, and an outer layer having a steering mechanism that includes at least one wire and a corresponding lumen for each of the at least one wire through which the respective wire may travel. The outer layer includes a braided wire assembly that includes at least two wires braided into a wire mesh, and further includes a see-through portion positioned proximate a pull wire extraction location to facilitate extraction.

Abstract: This invention is directed to a medical device having a longitudinal axis, and including a handle and a catheter. The handle can include a body having a proximal end and a distal end, an actuator moveably coupled to the body, and a handle control member coupled to the actuator, wherein the actuator can be configured to move relative to the body to move the handle control member. The catheter can include a shaft having a proximal end and a distal end, wherein the proximal end of the shaft and the distal end of the body can be configured for releasable coupling. The catheter can also include a steering section located along the shaft and a catheter control member coupled to the steering section, wherein the catheter control member can be configured to move relative to the shaft to move the steering section relative to the longitudinal axis.

Abstract: A catheter having an elongate body, at least two elongate stimulation members extending from the elongate body, at least one electrode on each of the elongate stimulation members, where the electrodes form an electrode array that receives and conducts electrical current. The elongate stimulation members curve only in the first volume defined at least in part by a first plane, and a second volume defined at least in part by the first plane and being opposite the first volume can contain no electrodes. The catheter can further include a position gauge having a marking that indicates a length between a second end of the elongate body and a bumper end of the position gauge. The catheter can also include a pulmonary artery catheter having a lumen, where the catheter extends through the lumen of the pulmonary artery catheter.

Abstract: An improved bi-directional steerable catheter is provided. The catheter generally comprises a catheter body, tip section and control handle. The catheter further comprises first and second puller wires extending from the control handle, through the catheter body and into the tip section. The control handle has deflection means for each puller wire that include a gear, and a carrier to which the proximal end of a puller wire is anchored. The gear is rotatably coupled to a lever controlled by an operator and the gear engages the carrier such that rotation of the gear by the lever results in longitudinal movement of the carrier, which results in deflection of the tip section.

Abstract: Disclosed herein is a medical tool adapted to engage and disengage with leadless pacemakers to allow for the repeated use of the tool in delivering and implanting multiple leadless pacemakers into a patient heart in a serial or repeated manner. The tool includes a handle, an attachment mechanism, a torque portion, and a rotation limiter. The handle includes a housing. The attachment mechanism is operably coupled to the housing and configured to actuate between a released state and an engaged state. The torque portion is operably coupled to the housing and rotatable relative to the housing to transition the attachment mechanism between the released and engaged states. The torque portion includes a shaft. The rotation limiter is in sliding engagement with the shaft between a first stop and a second stop. The rotation limiter includes a first helical thread. The tool also includes a second helical thread in threaded engagement with the first helical thread and operably coupled to the housing.

Abstract: A steerable catheter system may include a flexible elongate catheter body, a drive mechanism at the proximal end of the catheter body, and at least one group of pullwires extending along a length of the catheter body. The catheter body may include a distal articulating section and a proximal non-articulating section. Each group of pullwires includes at least two pullwires, and each of the pullwires is anchored at a first end to the distal end of the catheter body and at a second end to the drive mechanism. The pullwires of each group are positioned close to one another in the catheter wall to concentrate the forces and cause deflection along the articulating section of the catheter body and diverge away from one another to reach a more separated distribution around a circumference of the catheter body to distribute the forces and prevent deflection along the non-articulating section.