Disclosed herein are medical systems and devices that include an elongate probe configured for insertion into a patient, where the elongate probe includes an atraumatic tip and where the atraumatic tip includes one or more of a loop, a curl, coil, a flexible distal tip section, a steerable distal tip section, a distal tip section configured to transition away from a first shape toward a second shape upon insertion of the elongate probe within the patient. The optical fiber includes sensing core fibers configured to facilitate a determination of a physical state of the elongate probe. The elongate probe is also configured to project illuminating light away from a distal end and receive imaging light at the distal end.