# US 8,465,420 B2 · Articulating torqueable hollow device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,465,420 B2 - Document ID: US8465420B2 - Status: Granted - Kind: B2 - Application number: 12/121,345 - Filed: 2008-05-15 - Published: 2008-11-20 - Granted: 2013-06-18 - Earliest claimed: 2007-05-18 - Assignees: Boston Scientific Scimed, Inc. - Applicants: Isaac Ostrovsky; Jozef Slanda; Jeff Bean - Inventors: Isaac Ostrovsky; Jozef Slanda; Jeff Bean - Web page: https://patentgrep.com/patent/US8465420B2 ## CPC - A61B 1/0055: {Constructional details of insertion parts, e.g. vertebral elements} - A61B 1/00071: {Insertion part of the endoscope body (A61B1/0055 takes precedence)} - A61B 1/0056: {the insertion parts being asymmetric, e.g. for unilateral bending mechanisms} - A61B 1/0057: {Constructional details of force transmission elements, e.g. control wires} - A61B 1/008: Articulations - A61M 25/0141: {having flexible regions as a result of using materials with different mechanical properties} - A61M 25/0147: {with movable mechanical means, e.g. pull wires} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## 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. ## Claims ### Claim 1 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 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; and 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. ### Claim 2 (depends on 1) The articulation mechanism of claim 1, further comprising a control cam connected to the at least one pull-wire. ### Claim 3 (depends on 1) 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. ### Claim 4 (depends on 3) The articulation mechanism of claim 3, wherein the outer sleeve comprises a lubricated coating. ### Claim 5 (depends on 3) The articulation mechanism of claim 3, wherein the outer sleeve comprises a drug coating. ### Claim 6 (depends on 1) The articulation mechanism of claim 1, further comprising one or more radiopaque markers. ### Claim 7 (depends on 1) The articulation mechanism of claim 1, further comprising a radiopaque material. ### Claim 8 (depends on 1) The articulation mechanism of claim 1 further comprising: a second articulation section, the second articulation section including a second 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 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 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, wherein the wedge shaped recesses of the first articulation section are radially offset from the wedge shaped recesses of the second articulation section. ### Claim 9 (depends on 8) The articulation mechanism of claim 8, further comprising a control cam connected to the at least one pull-wire. ### Claim 10 (depends on 8) The articulation mechanism of claim 8, further comprising an outer sleeve disposed on the outside of the articulation mechanism to provide a smooth exterior surface. ### Claim 11 (depends on 10) The articulation mechanism of claim 10, wherein the outer sleeve comprises a lubricated coating. ### Claim 12 (depends on 10) The articulation mechanism of claim 10, wherein the outer sleeve comprises a drug coating. ### Claim 13 (depends on 8) The articulation mechanism of claim 8, further comprising a radiopaque material. ### Claim 14 (depends on 1) The articulation mechanism of claim 1, wherein each tapered section is oriented at a first angle with respect to the longitudinal link axis. ### Claim 15 (depends on 14) The articulation mechanism of claim 14, wherein the substantially flat wedge surface is oriented at a second angle relative to the longitudinal link axis. ### Claim 16 (depends on 15) The articulation mechanism of claim 15, wherein a radius of deflection between adjacent links is a function of a difference between the first and second angles. ### Claim 17 (depends on 1) The articulation mechanism of claim 1, wherein the vertex has a substantially cylindrical surface to engage complementary surfaces on the pivot points of the adjacent link. ### Claim 18 (depends on 1) The articulation mechanism of claim 1, further comprising a plurality of wire channels, wherein the wire channels are radially spaced around a circumference of each link. ### Claim 19 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. ### Claim 20 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 thin wall profile, 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, and 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; and 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.