In one embodiment, an elongate body with a proximal end and a distal end is disclosed and which is controllable by an operator at the proximal end; in one embodiment, the elongate body is a catheter and the catheter tip is located at the distal end. The body contains numerous magnets along its length, at least one of which is an electromagnet, controllable by means of a current delivered by the operator of the body at the proximal end of the body. The magnets are placed such that a force is created at the distal end of the elongate body. The magnetic forces which control the distal end of the body originate from the controllable magnets placed on the body.