The present invention relates to a flexible device (10), comprising an articulation section (50), one or more lumens (110a； 110b) extending through the articulation section (50), one or more elongate members (100a； 100b) extending through the one or more lumens (110a； 110b), wherein the one or more elongate members (100a； 100b) is configured to move the articulation section (50) between a straight configuration and a curved configuration, and first and second cinching elements (150a, 150b) within the one or more lumens (110a； 110b), wherein the first and second cinching elements (150a, 150b) are engaged with one or more sides of the one or more elongate members (100a； 100b), to limit movement between the one or more elongate members (100a； 100b) and the articulation section (50), when the articulation section (50) is in the curved configuration, and wherein the first and second cinching elements (150a, 150b) are disengaged from the one or more elongate members (100a； 100b), to permit movement between the one or more elongate members (100a； 100b) and the articulation section (50), when the articulation section (50) is in the straight configuration.
