Articulating torqueable hollow device

Abstract

An articulating mechanism for use in a medical device, such as an endoscope or a catheter, includes a series of stacked links disposed adjacent to one another and movable with respect to each other. Each link includes a front face tapered to a pair of pivot points and a rear face defining a wedge shaped recess for receiving the pivot points of the adjacent link. Pull-wires provide tension and hold the staked links together while also allowing for controlled bending of the distal portion by movement of one or more of the pull-wires.

1 . An articulating mechanism for use in a medical device, comprising:
 a series of stacked links disposed adjacent to one another and movable with respect to each other, each link including a front face tapered to a pair of pivot points and a rear face defining a wedge shaped recess for receiving the pivot points of the adjacent link; and   at least one pull-wire for providing tension to the articulation mechanism and holding the adjacent links together.   
     
     
         2 . The articulation mechanism of  claim 1 , wherein the wedge shaped recess is radially offset from the pivot points. 
     
     
         3 . The articulation mechanism of  claim 1 , further comprising a control cam connected to the at least one pull-wire. 
     
     
         4 . The articulation mechanism of  claim 1 , further comprising an outer sleeve disposed on the outside of the articulation mechanism to provide a smooth exterior surface. 
     
     
         5 . The articulation mechanism of  claim 4 , wherein the outer sleeve comprises a lubricated coating. 
     
     
         6 . The articulation mechanism of  claim 4 , wherein the outer sleeve comprises a drug coating. 
     
     
         7 . The articulation mechanism of  claim 1 , further comprising radiopaque markers. 
     
     
         8 . The articulation mechanism of  claim 1 , further comprising a radiopaque material. 
     
     
         9 . An articulation mechanism for use in a medical device, comprising:
 a series of stacked links disposed adjacent to one another and movable with respect to each other, each link including a front face tapered to a pair of pivot points and a rear face defining a wedge shaped recess for receiving the pivot points of the adjacent link, the wedge shaped recess radially offset from the pivot points; and   at least one pull-wire for providing tension to the articulation mechanism and holding the adjacent links together.   
     
     
         10 . The articulation mechanism of  claim 9 , further comprising a control cam connected to the at least one pull-wire. 
     
     
         11 . The articulation mechanism of  claim 9 , further comprising an outer sleeve disposed on the outside of the articulation mechanism to provide a smooth exterior surface. 
     
     
         12 . The articulation mechanism of  claim 11 , wherein the outer sleeve comprises a lubricated coating. 
     
     
         13 . The articulation mechanism of  claim 11 , wherein the outer sleeve comprises a drug coating. 
     
     
         14 . The articulation mechanism of  claim 9 , further comprising radiopaque markers. 
     
     
         15 . The articulation mechanism of  claim 9 , further comprising a radiopaque material. 
     
     
         16 . An articulation mechanism for use in a medical device, comprising:
 a first articulation section, the first articulation section includes a first series of stacked links disposed adjacent to one another and movable with respect to each other, each link including a front face tapered to a pair of pivot points and a rear face defining a wedge shaped recess for receiving the pivot points of the adjacent link;   a second articulation section, the second articulation section includes a second series of stacked links disposed adjacent to one another and movable with respect to each other, each link including a front face tapered to a pair of pivot points and a rear face defining a wedge shaped recess for receiving the pivot points of the adjacent link, the wedge shaped recesses of the first articulation section radially offset from the wedge shaped recesses of the second articulation section; and   at least one pull-wire for providing tension to the articulation mechanism and holding the adjacent links together.   
     
     
         17 . The articulation mechanism of  claim 16 , further comprising a control cam connected to the at least one pull-wire. 
     
     
         18 . The articulation mechanism of  claim 16 , further comprising an outer sleeve disposed on the outside of the articulation mechanism to provide a smooth exterior surface. 
     
     
         19 . The articulation mechanism of  claim 18 , wherein the outer sleeve comprises a lubricated coating. 
     
     
         20 . The articulation mechanism of  claim 18 , wherein the outer sleeve comprises a drug coating. 
     
     
         21 - 22 . (canceled)