A method of fabricating an elongate structure having a steerable end, the structure including a flexible longitudinal body associated with at least one actuator member having at least one shape memory alloy wire or &ldquo；SMAW&rdquo； extending along the body and anchored thereto at its ends, and associated with a mechanism for heating it in controlled manner. The method includes the following steps: inserting at least one of the ends of the SMAW in tubes； crimping the tubes onto the ends of the SMAW； and securing the tubes to the body in such a manner that the wire extends along the body.
