Steering engagement catheter devices, systems, and methods of using the samefor accessing tissue, including theinternal and external tissues of the heart, are disclosed. In at least oneembodiment, a steering engagement catheter is provided,comprising an elongated tube having a proximal end, a distal end, and a firstwall positioned circumferentially along a length ofthe elongated tube, the elongated tube configured such that a deliverycatheter is capable of at least partial insertion into theelongated tube, at least one steering wire having a proximal end and a distalend, the distal end of the steering wire coupled to the firstwall of the elongated tube at or near the distal end of the elongated tube,and a controller operably coupled to the at least onesteering wire at or near the proximal end of the at least one steering wire.
