US Patent 7077823 Bidirectional steerable catheter with slidable mated puller wires

An improved steerable catheter comprises an elongated tubular catheter body with a flexible tip section. A pair of slidably mated puller wires fixedly attached to each other at their distal ends extend from a handle at the proximal end of the catheter body through a lumen in the catheter body and into a lumen in the tip section. Proximal movement of one puller wire relative to the other results in deflection of the tip section.