A catheter includes a flexible shaft having a length sufficient to access a patients renal artery relative to a percutaneous access location. The catheter includes a multiplicity of elongated resilient members each comprising a pre-formed curve and extendable beyond the catheter. The resilient members are constrained to a low profile when encompassed by a removable sheath, and expand outwardly to assume a pre-defined shape when removed from the sheath. An electrode assembly is provided at a distal end of each resilient member, and includes an electrode element coupled to an electrical conductor and a thermal sensor in thermal communication with the electrode element. The resilient members have a stiffness sufficient to maintain contact between the electrode elements and an inner wall of the renal artery including irregularities of the inner wall of the renal artery during ablation of perivascular renal nerve tissue.
