A catheter has a flexible shaft with a proximal end, a distal end, a lumen arrangement, and a length sufficient to access a patient's renal artery. A conductor arrangement extends between the proximal and distal ends of the shaft. An actuatable helical tip region is provided at the distal end of the shaft, and a bend region is located proximal of the actuatable helical tip region. An electrode arrangement is provided at the actuatable helical tip region and dimensioned for deployment within the target vessel, such as the renal artery. The electrode arrangement is coupled to the conductor arrangement and includes a multiplicity of electrodes positioned on the distal end of the shaft in a spaced relationship. The electrodes have a protruding portion that extends out a distance beyond an outer surface of the distal end of the shaft.