A system for ablating target tissue includes an elongate anchor shaft, a radially expandable member coupled to the elongate anchor shaft, and an elongate ablation shaft. The radially expandable member has an expanded configuration for engagement with the target tissue to facilitate anchoring. The elongate ablation shaft may be slidably disposed in the elongate anchor shaft, and the distal portion of the elongate ablation shaft is steerable. An energy source is coupled to the elongate ablation shaft and is configured to deliver energy to the target tissue and ablate the target tissue. Actuation of the elongate ablation shaft directs the energy to the target tissue to form a desired ablation path in the target tissue.