The present invention relates to a device (10； 410； 610) including: a steerable shaft (20) with a proximal end (30) and distal end (40), wherein the proximal end (30) can be manipulated by an operator to control the distal end (40)； an articulation section (50； 450； 650) at or near the distal end (40), wherein the articulation section (50； 450； 650) is configured to move the distal end (40) relative to the proximal end (30)； at least one elongate member (100； 500； 700) configured to control movement of the articulation section (50； 450； 650) in one or more directions, wherein: the at least one elongate member (100； 500； 700) extends through an internal passage of the articulation section (50； 450； 650), a distal end (105) of the at least one elongate member (100； 500； 700) is attached to the distal end (40) of the shaft (20), the at least one elongate member (100； 500； 700) is configured to move longitudinally to deflect the articulation section (50； 450； 650) relative to the proximal end (30), and the at least one elongate member (100； 500； 700) includes at least one protrusion (505； 705)； and a cinching element (550； 750) comprising at least one recess (555) configured to engage with the at least one protrusion (505； 705) to limit movement of the at least one elongate member (100； 500； 700) within the internal passage.
