Medical system including steerable catheter and method of manufacturing

A catheter comprising:

• an elongate shaft member comprising a proximal portion, a distal portion, and a wall, the elongate shaft member configured to be deliverable at least partially through a bodily opening leading to a bodily cavity with the distal portion ahead of the proximal portion, and the wall of the elongate shaft member comprising one or more polymer layers;
• an elongate thermoplastic member, at least part of the elongate thermoplastic member embedded into at least a particular polymer layer of the one or more polymer layers of the wall of the elongate shaft member, the embedded at least the part of the elongate thermoplastic member extending along or with a longitudinal axis of the elongate shaft member between the proximal portion of the elongate shaft member and the distal portion of the elongate shaft member;
• and
• a reinforcement structure surrounding the embedded at least the part of the elongate thermoplastic member, at least part of the reinforcement structure embedded into the wall of the elongate shaft member, at least a portion of the embedded at least the part of the reinforcement structure comprising a plurality of filaments, each of at least one filament of the plurality of filaments having a particular dimension in a radial direction with respect to the longitudinal axis of the elongate shaft member,
• wherein at least a first portion of the embedded at least the part of the elongate thermoplastic member includes indentations in a surface of the first portion of the embedded at least the part of the elongate thermoplastic member into which the portion of the embedded at least the part of the reinforcement structure is embedded, and
• wherein a depth of each of at least some of the indentations from the surface of the first portion of the embedded at least the part of the elongate thermoplastic member is at least 40% of the particular dimension of the respective filament.