A steerable catheter (100) includes a tubular sheath (102) having a longitudinally-extending lumen formed within a wall thereof and a steering mechanism (120) disposed within the longitudinally-extending lumen. The steering mechanism includes a pull tube (122) and a pull wire (132). At least a segment of the pull wire is coaxially disposed within the pull tube. The pull tube has a distal end attached at a first anchor point to the tubular sheath, and the pull wire has a distal end attached at a second anchor point to the tubular sheath. The second anchor point is distal of the first anchor point. The pull tube and the pull wire are separately tensioned to bend respective regions of the tubular sheath.
