Articulating torqueable hollow device

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 extending along a longitudinal link axis and including a circumferential wall forming a central inner lumen, a front face defining 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 and pivot points being aligned circumferentially, the rear face including a rear face flat surface extending perpendicularly to the longitudinal link axis, and wherein a substantially flat wedge surface extends from the rear face flat surface to a rear vertex;
• at least one pull-wire for providing tension to the articulation mechanism and holding the adjacent links together, wherein the front face further includes a pair of oppositely arranged engagement surfaces which bisect the entirety of the front face, wherein each engagement surface includes a tapered section tapering proximally away from the pair of pivot points to a position on the engagement surface farthest from the pivot point;
• and
• the circumferential wall including a plurality of channels and channel walls, the channel walls having a curved portion protruding into the central inner lumen.