A percutaneous path is created into a bone having an interior volume occupied, at least in part, by a cancellous bone, e.g., a vertebral body. An expandable stent structure is introduced into the cancellous bone by deployment of a tool through the percutaneous path into the cancellous bone. The expandable stent structure is expanded and the tool withdrawn, leaving the expandable stent structure expanded inside the cancellous bone. Expansion of the expandable stent structure within cancellous bone can, e.g., compact cancellous bone, and/or create a cavity in cancellous bone, and/or move fractured cortical bone.