Methods and apparatuses for detecting tension on a tendon and/or mechanical deformation (e.g., breakage) of one or more steering tendon of a steerable and flexible articulating device. Theses apparatuses may have one or more tendons that are each electrically conductive and configured to steer the apparatus when tension is applied to the proximal end of the tendon. Tension and/or breakage (or other deformation) of one or more of these tendons may be detected by monitoring the electrical resistance of the tendons.

An endoscopic system includes an elongate shaft, a pull wire that runs a length of the elongate shaft, a handle coupled to a proximal portion of the elongate shaft, the handle housing a proximal portion of the pull wire, the handle being couplable to a robotic driver configured to tension the pull wire to cause articulation of the elongate shaft, and one or more conductors that run the length of the elongate shaft, the one or more conductors being electrically coupled to the pull wire at a distal portion of the elongate shaft and configured to form part of a closed electrical circuit with the pull wire.

Methods and apparatuses for detecting tension on a tendon and/or mechanical deformation (e.g., breakage) of one or more steering tendon of a steerable and flexible articulating device. Theses apparatuses may have one or more tendons that are each electrically conductive and configured to steer the apparatus when tension is applied to the proximal end of the tendon. Tension and/or breakage (or other deformation) of one or more of these tendons may be detected by monitoring the electrical resistance of the tendons.

A material for brachytherapy is provided comprising a substrate having a longitudinal axis and a latitudinal, wherein the substrate comprises alternating peaks and valleys which are parallel to the longitudinal axis, the alternating peaks and valleys defining latitudinally extending pleats; and a plurality of medicament moieties positioned on the peaks and valleys of the substrate.

Apparatus for delivering brachytherapy to a target tissue region includes an elongate body including a proximal end, a distal end sized for introduction into a tissue tract and carrying a plurality of elongate members including pathways for receiving a source of radiation. The elongate members are movable between collapsed and expanded configurations. During use, a tract is created through tissue, and the elongate body carrying the elongate members is advanced through the tract into a target location with the elongate members in the collapsed configuration. The elongate members are directed to the expanded configuration at the target location, and radiation is delivered to treat tissue at the target location, e.g., by introducing one or more radiation sources along the pathways.