Devices, systems, and methods for diagnosis and treatment of overactive bladder

A surgical tool for neuromodulating bladder function, comprising:

• an elongate delivery member configured and dimensioned to be inserted into a bladder through a urethra;
• a therapy delivery element coupled with the elongate delivery member, configured to interface with a tissue in a target region of a bladder wall to provide therapy to the target region;
• a plurality of sensing tips electrically and mechanically coupled with the elongate delivery member, configured to interface with one or more tissue surfaces of at least one of the bladder wall and the urethra, wherein one or more of the sensing tips are configured to convey one or more electrophysiological signals associated with the tissue surfaces at least one of before, during, and after the therapy;
• and
• a controller coupled to the elongate delivery member, the controller configured to independently adjust a bias force of a first one of the plurality of sensing tips and at least a second one of the plurality of sensing tips to maintain a first position of the first sensing tip and a second position of the second sensing tip while the therapy is provided to the target region.