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This invention is directed to a flexible device, a first elongate member configured to move the flexible device in a first direction, and a second elongate member configured to move the flexible device in a second direction. The flexible device can include a plurality of articulation links, wherein

This invention is directed to a flexible device, a first elongate member configured to move the flexible device in a first direction, and a second elongate member configured to move the flexible device in a second direction. The flexible device can include 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. A cinching element may 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 may 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.

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1. A flexible device having a longitudinal axis, comprising: a first elongate member configured to move the flexible device in a first direction relative to the longitudinal axis;a second elongate member configured to move the flexible device in a second direction relative to the longitudinal axis t

1. A flexible device having a longitudinal axis, comprising: a first elongate member configured to move the flexible device in a first direction relative to the longitudinal axis;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;an articulation section including articulation links, wherein at least one of the articulation links includes a body configured to receive the first elongate member and the second elongate member;a first cinching element positioned to engage a first side of the first elongate member to restrict movement between articulation links when a first tensile force is applied to the first elongate member, and configured to disengage the first elongate member to permit movement between articulation links when a second tensile force is applied to the second elongate member; anda second cinching element positioned to engage a second side of the first elongate member to restrict movement between articulation links when the first tensile force is applied to the first elongate member, wherein the second side of the first elongate member is opposite the first side of the first elongate member. 2. The flexible device of claim 1, wherein the body includes a first lumen configured to receive the first elongate member, and includes a second lumen configured to receive the second elongate member. 3. The flexible device of claim 2, wherein the first cinching element is located within the first lumen. 4. The flexible device of claim 3, wherein the first cinching element is positioned lateral to the first elongate member, and the first cinching element is configured to engage a lateral side of the first elongate member. 5. The flexible device of claim 4, wherein the second cinching element is located within the first lumen. 6. The flexible device of claim 5, wherein the first cinching element is located distally within the first lumen and the second cinching element is located proximally within the first lumen. 7. The flexible device of claim 5, wherein the second cinching element is located medial to the first elongate member and configured to engage a medial side of the first elongate member. 8. The flexible device of claim 1, wherein the first cinching element includes at least one of a sharp edge and a serrated surface. 9. An articulation section of a shaft, the articulation section being configured to move between a straight configuration and a curved configuration, and the articulation section comprising: articulation links;a lumen extending through the articulation links;an elongate member extending through the lumen, wherein the elongate member is configured to move the articulation links to move the articulation section between the straight configuration and the curved configuration;cinching elements in the lumen, wherein the cinching elements are configured to engage the first elongate member, to restrict movement between the first elongate member and the articulation links when the articulation section is in the curved configuration, and configured to disengage from the first elongate member, to permit movement between the first elongate member and the articulation links when the articulation section is in the straight configuration, and wherein the cinching elements include a first cinching element configured to engage a first surface of the elongate member, and a second cinching element configured to engage a second surface of the elongate member, the second surface being spaced apart from the first surface, the first and second surfaces being on opposite sides of the elongate member. 10. The articulation section of claim 9, wherein the first surface is distal to the second surface. 11. The articulation section of claim 9, wherein the cinching elements are configured to simultaneously engage the elongate member at multiple sites along the elongate member when the articulation section is in the curved configuration. 12. The articulation section of claim 9, wherein each of the articulation links includes a plurality of the cinching elements. 13. A flexible device, comprising: an articulation section;a lumen extending through the articulation section;an elongate member extending through the lumen, wherein the elongate member is configured to move the articulation section between a straight configuration and a curved configuration;first and second cinching elements within the lumen, wherein the first and second cinching elements are configured to engage opposing sides of the elongate member, to restrict movement between the elongate member and the articulation section when the articulation section is in the curved configuration, and configured to disengage from the elongate member, to permit movement between the elongate member and the articulation section when the articulation section is in the straight configuration. 14. The flexible device of claim 13, wherein at least one of the first and second cinching elements includes at least one protrusion formed on a surface defining the lumen. 15. The flexible device of claim 14, wherein the first and second cinching elements are two of a plurality of longitudinally-spaced protrusions formed on a surface defining the lumen.