Steerable sheath and catheter with circular deflection

A catheter comprising:

• an elongated body sized to traverse vasculature and comprising:
• an outer surface, a proximal end and a distal end disposed on opposite sides thereof with a transition zone disposed therebetween,
• a first shaft extending distally from the proximal end of the elongated body to the transition zone and defining a longitudinal axis,
• a second shaft extending proximally from the distal end to the transition zone, the second shaft extending axially relative to the longitudinal axis in a delivery configuration, the second shaft bending relative to the longitudinal axis in a deployed configuration;
• a first lumen formed in the elongated body and defining:
• a first curved lumen path curved about the longitudinal axis and extending fully from the distal end to the transition zone, the first curved lumen path being curved in the delivery configuration, and
• a first straight lumen path substantially parallel to the longitudinal axis and extending from the transition zone to the proximal end;
• and
• a first pull-wire extending within the first curved and straight lumen paths, the first pull-wire being anchored to the second shaft such that translation of the first pull-wire near the proximal end deflects the second shaft substantially along the first curved lumen path.