A catheter 100 comprising an elongated shaft 106 having an inner polymer structure 112 and an outer polymer structure 116 disposed around the inner polymer structure, a braid 160, 162 positioned around at least a portion of the inner polymer structure and extending along at least a portion of the shaft, and a coil 170 wound around at least a portion of the inner polymer structure. At least a portion of one of the braid or the coil overlaps at least a portion of the other of the braid or coil, the outer polymer structure can be disposed in and around the braid and the coil, and the outer polymer structure can have a stiffness that decreases in a distal direction.
