A laparoscopic medical fluid delivery device includes a catheter having an articulating tip formed with shape memory properties and thus having a pre-shaped curvature. A tubular member is reciprocatingly slidable axially on the catheter to selectively cover and uncover portions of the articulating tip to thereby selectively vary the degree of curvature of the articulating tip. An actuator operatively linked to the tubular member selectively moves the tubular member reciprocatingly on the catheter. The pre-shaped articulating tip of the catheter is constrained by the tubular member from articulating to the pre-shaped curvature when the tubular member covers the articulating tip, and bends to a selected degree of curvature when the articulating tip is at least partially uncovered by the tubular member.