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 “SMAW” 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.
