#$%^&*AU2015210338B220180201.pdf#####ABSTRACT A steerable medical device, comprising a steerable portion； a first tubular member comprising a first flexible polymeric tubular member； and a second tubular member comprising a second flexible polymeric tubular member, wherein the first tubular member is disposed within the second tubular member and permanently axially fixed to the second tubular member at a fixation location distal to the steerable portion； and an external controller that is adapted to be actuated to put one of the first tubular member and the second tubular member in tension and the other of the first tubular member and the second tubular member in compression, and wherein the first and second tubular members are adapted such that the steerable portion is steered in a first direction when the external controller is actuated.
