Medical devices for insertion into the body of human or veterinary patients, wherein the device comprises a) a working element (e.g. a wire, a guidewire, a tube, a catheter, a cannula, a scope (e.g., rigid or flexible endoscope, laparoscope, sigmoidoscope, cystoscope, etc.) a probe, an apparatus for collecting information from a location within the body (e.g., an electrode, sensor, camera, scope, sample withdrawal apparatus, biopsy or tissue sampling device, etc.) which has an outer surface and b) a continuous or non-continuous coating on the outer surface of the working element. The outer surface of the working element is prepared to create a surface topography which promotes mechanical or frictional engagement of the coating to the working element. In some embodiments the coating is a lubricious coating, such as a fluorocarbon coating or a hydrogel that becomes lubricious when contacted by a liquid. In some embodiments, the coating may expand as swell. Also disclosed as methods for manufacturing such devices.