This invention is directed to a flexible device having a longitudinal axis, a first elongate member configured to move the flexible device in a first direction relative to the longitudinal axis, and a second elongate member configured to move the flexible device in a second direction relative to the longitudinal axis that is different to the first direction. The flexible device can also have an articulation section including a plurality of articulation links, wherein at least one of the plurality of articulation links can include a body configured to receive the first elongate member and the second elongate member. The flexible device can also include a cinching element configured to engage the first elongate member to substantially limit movement between the plurality of articulation links when a tensile force is applied to the first elongate member and configured to disengage the first elongate member to permit movement between the plurality of articulation links when a tensile force is applied to the second elongate member.
