Tumor resection is commonly practiced to prevent the progression of cancer. However, there are post-surgery concerns including the formation of a void that can allow cancer cells to escape at the surgery site, which increases the risk of metastasis. To counter this challenge, an embodiment includes a polyurethane-based shape memory foam as a tissue void-filling device that can also release anti-cancer drugs. Such foams may activate at body temperature and become malleable. Such properties may enable the foam to be shaped to precisely seal the tissue void and then serve as a drug-eluting device. Based on the drug composition with poly vinyl alcohol (PVA), the drug release profile from the foam may be altered depending on the application.