1. A catheter apparatus for intravascular renal neuromodulation, comprising: an elongated shaft extending along an axis, the elongated shaft comprising a proximal portion and a distal portion, the distal portion including an elongate first flexure zone, a second flexure zone distal of the first flexure zone, and a third flexure zone adjacent to and extending distally beyond the second flexure zone; an energy delivery element carried by and extending distally beyond the third flexure zone, wherein the energy delivery element is configured to contact an intravascular tissue surface and deliver energy to renal nerves positioned adjacent to the intravascular tissue surface; and a control element coupled to the second flexure zone; and an active cooling element comprising an infusion port in the energy delivery element, and wherein the infusion port is in fluid communication with a thermal fluid infusion source, wherein— the control element is configured to apply a first force to the second flexure zone to control motion of the energy delivery element in a plane including the axis and position the energy delivery element in contact with the intravascular tissue surface; the energy delivery element is configured to apply energy via the intravascular tissue surface to ablate the renal nerves; and the active cooling element is configured to remove heat from the energy delivery element.