Steerable intra-luminal medical device

A medical device, comprising:

• an elongate, flexible portion having a distal end and a proximal end, an outer member having a continuous outer surface over its circumference and length and an inner surface, and an inner member having a continuous outer surface over its circumference and length and an inner surface;
• at least one ionic electroactive polymer actuator, the actuator comprising:
• at least one polymer electrolyte layer secured adjacent to the distal end of the elongate, flexible portion;
• and
• a plurality of electrodes circumferentially distributed about the at least one polymer electrolyte layer;
• and
• a plurality of electrically-conductive conduits, each having a proximal end disposed adjacent to the proximal end of the elongate flexible portion and a distal end coupled to at least one of the plurality of electrodes wherein the conduits extend within the elongate flexible portion between the outer surface of the outer member and the inner surface of the inner member;
• wherein the at least one polymer electrolyte layer deforms asymmetrically in response to the application of an electrical signal through at least one of the plurality of electrically-conductive conduits to at least one of the plurality of electrodes;
• and
• a drive assembly configured to move the medical device lengthwise.