A steerable medical catheter includes a tubular body having a longitudinal axis and a distal portion for insertion into a subject, a first pull wire, a second pull wire, and a piezoelectric transducer. The piezoelectric transducer includes a first electrode and a second electrode. At the distal portion of the catheter the first pull wire and the second pull wire are each mechanically coupled to the tubular body at respective first and second offset positions with respect to the longitudinal axis for imparting a curvature on the distal portion of the catheter. At the distal portion of the catheter the first pull wire is electrically connected to the first electrode of the piezoelectric transducer and the second pull wire is electrically connected to the second electrode of the piezoelectric transducer.