Steerable catheter having an adjustable bend location comprising a flexible elongate tubular member having proximal and distal extremities. A plurality of circumferentially spaced-apart flexible elements are disposed in the distal extremity for causing bending of the distal extremity of the flexible...http://www.google.es/patents/US5389073?utm_source=gb-gplus-sharePatente US5389073 - Steerable catheter with adjustable bend location
