One-piece articulated joint

Abstract

An articulation joint for an endoscopic device includes a body and a wire. The body includes a first link at a proximal end, a last link at a distal end, and an inner link between the first link and the last link. The body is formed as a tube having a gap. Each inner link is connected on a proximal end to another proximal link via a first flexible member and on a distal end to another distal link via a second flexible member. Each inner link forms a proximal gap between the inner link and another proximal link, a distal gap between the inner link and another distal link, and recesses on both sides of the member permitting bending of the member and rotation of the inner links. The wire extends through the links such that application of tension to the wire causes at least one link to rotate toward the other link and articulate the joint.

Description

[0001] Cross - reference to related applications

[0002] This application claims the benefit of priority of U.S. Provisional Application No. 63 / 382,249, filed on November 3, 2022, the entire content of which is incorporated herein by reference. Technical Field

[0003] The present disclosure relates to an articulation joint for an endoscopic device, the articulation joint including a plurality of links formed as a single piece. Background Art

[0004] Minimally invasive medical devices (such as endoscopes) may include a flexible elongate shaft that includes one or more channels through which medical devices may be run and / or controlled. Generally, an operating physician uses an endoscopic camera or other guiding device to guide the endoscope to a target site within a living body (e.g., by passing the endoscope through a body lumen that enters via a body orifice, for example), so that medical devices may be used at the target site. In some endoscopes, the shaft includes an articulation joint (e.g., located along the shaft and / or at the distal end of the endoscope) to allow an operator to bend the endoscope in a desired direction by a desired amount of deflection. Known articulation joints typically include a plurality of links connected by one or more traction wires (or other control elements), and the operator may tighten or loosen the one or more traction wires to control the curvature of the flexible endoscope and the articulation joint disposed therein.

[0005] Manufacturing an endoscope having such an articulation joint may require a difficult and / or time - consuming manual assembly process in which each of the plurality of links is added to the traction wire. If the links are not correctly positioned / oriented, it may be necessary to remove all previously assembled links and start the process over, which can significantly increase labor costs. Summary of the Invention

[0006] The present disclosure relates to an articulation joint for an endoscope device; the joint includes a body and at least one traction wire. The body extends longitudinally from a proximal end to a distal end and is formed as a plurality of links, the plurality of links including a first link at the proximal end, a last link at the distal end, and a plurality of internal links between the first link and the last link. The body is formed as a single tube in which a gap is formed. Each internal link is connected to another proximal link or the first link at the proximal end via a first flexible member extending longitudinally between the internal link and another proximal link, and is connected to another distal link or the last link at the distal end via a second flexible member extending longitudinally between the internal link and another distal link. Each internal link is shaped such that: a proximal gap is formed between the internal link and another proximal link to permit the internal link to rotate towards another proximal link and vice versa; and a distal gap is formed between the internal link and a more distal link to permit another distal link to rotate towards the internal link and vice versa; and recesses are formed on both sides of each of the flexible members to permit the flexible members to bend and permit rotation about a transverse axis between the internal links. At least one traction wire extends longitudinally from the proximal end through the plurality of links to the distal end. Applying tension to the traction wire causes at least one link to rotate about the transverse axis towards another link and articulate the articulation joint.

[0007] In one embodiment, gradually applying further tension to the traction wire causes additional links to rotate and further articulate the articulation joint into a desired shape or desired curvature.

[0008] In one embodiment, the dimensions and shapes of the links and the dimensions and shapes of the flexible members are selected to permit the flexible members to bend to a maximum curvature when tension is applied to the traction wire.

[0009] In one embodiment, the maximum curvature of the flexible member is selected such that elastic deformation is maintained during articulation.

[0010] In one embodiment, the thickness of the tube is selected to permit the flexible members to bend.

[0011] In one embodiment, the dimensions and shapes of the gaps and the dimensions and shapes of the recesses are selected such that only a given link can rotate until the link contacts an adjacent proximal link and reaches a maximum curvature, whereby the adjacent proximal link can rotate until the adjacent proximal link contacts another adjacent proximal link.

[0012] In one embodiment, the proximal gap, the distal gap, and the recesses are formed by laser cutting the tube.

[0013] In one embodiment, the tube is formed of stainless steel.

[0014] In one embodiment, the tube is annealed before or after laser cutting to increase the flexibility of the flexible member.

[0015] In one embodiment, the inner link includes additional gaps that form curls on the circumference of the link.

[0016] In one embodiment, the profiles of the link and the flexible member are selected based on at least one of a desired bending radius, a hinge force, a hinge angle, and a coplanarity of the hinge joint.

[0017] In one embodiment, the profiles of the link and the flexible member are selected such that the cyclic stress applied during the hinging of the hinge joint is not sufficient to cause failure of the hinge joint.

[0018] In one embodiment, the hinge joint further includes a lumen that extends through the link and is offset from the longitudinal axis of the link, wherein a traction wire extends through the lumen such that applying tension to the traction wire applies a bending force to the link.

[0019] In one embodiment, the body is formed of nitinol, plastic, or polymer and is formed by a micro-molding, 3D printing, or extrusion process.

[0020] In one embodiment, the profiles of the link and the flexible member are selected such that hinging causes the distal end of the hinge joint to: rotate 180 degrees to form a cane shape; rotate 270 degrees to form a P shape; or rotate 360 degrees to form an O shape.

[0021] In addition, the present disclosure relates to a method for endoscopic surgery. The method includes: guiding an endoscopic device to a target site, the endoscopic device including an articulating joint, the articulating joint including a body longitudinally extending from a proximal end to a distal end and shaped as a plurality of links, the plurality of links including a first link at the proximal end, a last link at the distal end, and a plurality of internal links between the first link and the last link, wherein the body is formed as a single tube in which a gap is formed, wherein each internal link is connected at the proximal end to another proximal link or the first link via a first flexible member longitudinally extending between the internal link and another proximal link, and is connected at the distal end to another distal link or the last link via a second flexible member longitudinally extending between the internal link and another distal link, wherein each internal link is shaped such that a proximal gap is formed between the internal link and another proximal link to permit the internal link to rotate towards another proximal link and vice versa, and such that a distal gap is formed between the internal link and another distal link to permit another distal link to rotate towards the internal link and vice versa, and such that recesses are formed on both sides of each of the flexible members to permit the flexible members to bend and permit rotation about a transverse axis between the internal links, the endoscopic device further including at least one traction wire extending longitudinally from the proximal end through the plurality of links to the distal end; and applying tension to the traction wire to cause at least one link to rotate about the transverse axis towards another link and articulate the articulating joint.

[0022] In one embodiment, gradually applying further tension to the traction wire causes additional links to rotate and further articulate the articulating joint into a desired shape or desired curvature.

[0023] In one embodiment, the dimensions and shapes of the links and the flexible members are selected to permit the flexible members to bend to a maximum curvature when tension is applied to the traction wire.

[0024] In one embodiment, the dimensions and shapes of the gaps and the recesses are selected such that only a given link can rotate until the link contacts an adjacent proximal link and reaches a maximum curvature, whereby the adjacent proximal link can rotate until the adjacent proximal link contacts another adjacent proximal link.

[0025] In one embodiment, the tube is formed of stainless steel, and the proximal gap, the distal gap, and the recesses are formed by laser cutting the tube.

[0026] In addition, the present disclosure relates to an articulation joint for an endoscope device. The joint includes a body and at least one traction wire. The body extends longitudinally from a proximal end to a distal end and is formed as a plurality of links, the plurality of links including a first link at the proximal end, a last link at the distal end, and a plurality of internal links between the first link and the last link, wherein each internal link is connected to another proximal link at the proximal end via at least one first flexible member extending longitudinally between the internal link and the other proximal link, and is connected to another distal link at the distal end via at least one second flexible member extending longitudinally between the internal link and the other distal link. The body is formed as a single piece. Each internal link is formed such that: a proximal gap is formed between the internal link and another proximal link to permit the internal link to rotate towards the other proximal link and vice versa; and a distal gap is formed between the internal link and another distal link to permit the other distal link to rotate towards the internal link and vice versa; and recesses are formed on both sides of the first flexible member and the second flexible member to permit the flexible members to bend and permit rotation in at least one direction about a transverse axis between the internal links. At least one traction wire extends longitudinally from the proximal end through the plurality of links to the distal end. Applying tension to the traction wire causes at least one link to rotate about the transverse axis towards another link and articulates the articulation joint.

[0027] In one embodiment, gradually applying further tension to the traction wire causes additional links to rotate and further articulates the articulation joint into a desired shape or a desired curvature.

[0028] In one embodiment, the size and shape of the links and the size and shape of the flexible members are selected to permit the flexible members to bend to a maximum curvature when tension is applied to the traction wire.

[0029] In one embodiment, the maximum curvature of the flexible members is selected such that elastic deformation is maintained during articulation.

[0030] In one embodiment, the thickness of the tube is selected to permit the flexible members to bend.

[0031] In one embodiment, the size and shape of the gaps and the size and shape of the recesses are selected such that only a given link can rotate until the link contacts an adjacent proximal link and reaches a maximum curvature, whereby the adjacent proximal link can rotate until the adjacent proximal link contacts another adjacent proximal link.

[0032] In one embodiment, the proximal gap, the distal gap, and the recesses are formed by laser cutting.

[0033] In one embodiment, the body is formed of stainless steel, nitinol, or a polymer.

[0034] In one embodiment, the body is manufactured by micro - molding or 3D printing.

[0035] In one embodiment, the profiles of the links and the flexible members are selected based on at least one of a desired bending radius, hinge force, hinge angle, and coplanarity of the hinge joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Shown is a hinge joint for use with an endoscopic device according to a first exemplary embodiment, the hinge joint including a plurality of links formed as a single piece.

[0037] Figure 2 Shown is Figure 1 a view of the proximal end of the hinge joint.

[0038] Figure 3 Shown in more detail is Figure 1 a portion of the hinge joint that includes a plurality of links, where flexible members couple adjacent links.

[0039] Figure 4 Shown is Figure 1 a cross - section of the hinge joint that includes two lumens located on opposite sides of the inner diameter of the joint, through which corresponding traction wires can extend.

[0040] Figures 5 - 6 Shown is Figure 1 a link of the hinge joint that rotates toward an adjacent link located proximal to the link.

[0041] Figure 7 Shown is a hinge joint for use with an endoscopic device according to a second exemplary embodiment, the hinge joint including a plurality of links formed as a single piece.

[0042] Figure 8 Shown in more detail is Figure 2 a portion of the hinge joint that includes a plurality of links, where flexible members couple adjacent links.

[0043] Figure 9 Shown is Figure 2 a cross - section of the hinge joint that includes two lumens located on opposite sides of the inner diameter of the joint, through which corresponding traction wires can extend.

[0044] Figures 10 - 11 Shown is Figure 2 a link of the hinge joint that rotates toward an adjacent link located proximal to the link.

[0045] Figure 12 shows Figure 7 an articulation joint in a fully articulated shape, where each link rotates by a maximum amount towards its adjacent link.

[0046] Figure 13 shows the profile of a link of an articulation joint according to a third exemplary embodiment. Detailed Description

[0047] The present disclosure can be further understood with reference to the following description and drawings, in which like elements are denoted by like reference numerals. The present disclosure relates to an articulation joint including a plurality of links for use with an endoscopic device. Those skilled in the art will understand that the plurality of links can be formed from a single piece of material such that the articulation joint can be formed as an integral member. The links are shaped or cut to a profile that permits a thin flexible member (or hinge) located between adjacent links to bend and rotate the links relative to each other in one or more directions to bend the articulation joint. Each link further includes one or more lumens that permit one or more traction wires to extend longitudinally through the link to apply tension to rotate and bend the link. The exemplary articulation joints described herein can be suitable for disposable devices or reusable devices, as will be described in further detail below.

[0048] The profile of each link can be designed, for example, based on the desired specifications of the articulation joint, which can vary according to different endoscopes or different types of endoscopes. For example, the articulation joint can have a desired bending radius, hinge force, maximum articulation angle, coplanarity, etc. The links and the flexible members connecting adjacent links can be designed such that there is a gap between adjacent links, and the size of each gap is selected to permit adjacent links to deflect (e.g., rotate) relative to each other through a desired range when a hinge force is applied.

[0049] Rotation of the links in the disclosed embodiments is achieved by bending the flexible members that connect adjacent links to each other. The flexible members are made thin / flexible enough such that a rotational force applied at the ends of the flexible members causes the flexible members to bend in the permitted directions. The bending of the flexible members is permitted by recesses located on one or more sides of the flexible members into which the members can bend or flex before adjacent links come into contact with each other.

[0050] Depending on the above design considerations and the specifications of the endoscope used with the articulation joint, the articulation joint can include any number of links. In one exemplary embodiment, the articulation joint includes 25 links, and the articulation joint is sized / shaped to mate with used with a ureteroscope. In another exemplary embodiment, the articulating joint includes 20 links. However, those skilled in the art will determine that the number of links and the specific link profile can be selected based on any number of considerations. Additionally, the exemplary embodiment describes a link profile that permits rotation (e.g., bending or curving) in two directions via two different traction cords located on opposite sides of the articulating joint via a symmetric link profile that is mirror-imaged in a longitudinal plane bisecting the articulating joint. However, the articulating joint can also be designed to permit rotation in a single direction or possibly in more than two directions.

[0051] The exemplary embodiment further describes a link profile common to most or all of the links in the articulating joint. Using a common link profile (at least for the internal links) can simplify manufacturing techniques and provide consistency to the curvature of the articulating joint. However, those skilled in the art will determine that different links in the same articulating joint can include different profiles if desired to achieve design goals or for any other reason.

[0052] In some exemplary embodiments, the first (proximal-most) link or the last (distal-most) link in the joint can have a different profile than the internal links located between the first and last links, where in the exemplary embodiment, each of the links has a common profile. In other embodiments, some of the internal links can include a profile different from other internal links, e.g., to permit the articulating joint to have different degrees of curvature in different parts of the joint.

[0053] The articulating joint according to the disclosed embodiments can be formed using any of a variety of manufacturing techniques including, for example, micro-molding, 3D printing, extrusion, and / or laser cutting. Those skilled in the art will determine that depending on the complexity of the link profile or other design considerations, the various types of link profiles covered by the present disclosure may be better suited for fabrication via a particular technique relative to other techniques. The articulating joint can be formed from materials including, for example, stainless steel, nitinol, plastic, polymers (such as polyurethane, polyamide, or PEEK) or other materials. The articulating joint can be formed from a tube (e.g., by extrusion).

[0054] In one exemplary embodiment, for example, Figures 1 - 6The articulated joint 100 shown can be manufactured by laser cutting a thin-walled stainless steel pipe to be formed from a single stainless steel pipe into a plurality of links interconnected via a flexible member (hinge), as will be described in more detail below. In these respects, the flexible member is designed such that the hinge elastically deforms only during articulation of the joint. As will be understood by those skilled in the art, by using picosecond or femtosecond laser cutting, the hinge region affected by the heat of the laser cutting and the region adjacent to the hinge can be minimized. The stainless steel can also be annealed before or after laser cutting to increase hinge flexibility.

[0055] Figures 1 - 6 An articulated joint 100 for use with an endoscopic device according to a first exemplary embodiment is shown, wherein the articulated joint 100 includes a plurality of links 102, formed as an integral structure from a single continuous piece of material. In Figures 1 - 6 the example, the articulated joint 100 is formed from a tube (e.g., a stainless steel tube) having a wall thickness of t. The tube is laser cut to form the links 102 and the flexible member (hinge) 104 that connects adjacent links 102.

[0056] In this example, the articulated joint 100 includes 25 links, such as Figure 1 the links 102a - 102y shown. The first link 102a is located at the proximal end 130 of the articulated joint 100, and the twenty-fifth link 102y is located at the distal end 140 of the articulated joint. The first link 102a of the articulated joint can be coupled to a feature (e.g., an extended flexible metal tube or a polymer fitting) located at the proximal end of the endoscope, while the last link 102y can be coupled to a feature (e.g., a distal cap or tip) located at the distal end of the endoscope. Except for the first (nearest proximal) link 102a and the last (farthest distal) link 102y, each of the remaining (inner) links 102 (e.g., the second link 102b, the third link 102c, etc.) is attached to another link 102 located proximally and another link 102 located distally. As Figure 2 shown, adjacent links 102 are connected to each other via two flexible members 104 located on opposite sides (i.e., diametrically opposed portions) of the circumference of the link 102. As will be described in more detail below, the articulated joint 100 is designed to flex in a plane perpendicular to the diameter connecting the two flexible members 104 of each link 102 to each other.

[0057] Figure 3 Is shown in more detail Figure 1a portion 150 of the articulated joint 100, the portion including a plurality of links 102, wherein a flexible member 104 couples adjacent links 102. Each of the inner links 102 (including, for example, the fourth link 102d, the fifth link 102e, and the sixth link 102f) in this example includes a section of tubing. The tubing forming the articulated joint 100 has been laser cut to form gaps 106 around the circumference of the tubing and recesses 108 on both sides of the flexible member 104. It should be noted that the dimensions and shapes of the gaps 106 and recesses 108 that define the shape of the links 102 can vary, and these exemplary embodiments are not limited to Figures 1 - 6 the design shown. Although the gaps 106 and recesses 108 are described as separate spaces, it should be understood that these spaces constitute a single continuous space, and the distinction between the two is provided merely for ease of explanation.

[0058] The surface portions defining the links 102 and the flexible member 104 are defined by the thickness t of the tubing. The distal surface 110 of the link 102 extends around the circumference of the tubing between the flexible members 104. The flexible member 104 is defined by a longitudinal length l and a width w (and a depth d equal to the thickness t). It should be understood that the width w has a slight curvature corresponding to the curvature of the tubing over a small circumferential distance. In Figure 3 the example shown, the width w of the flexible member may not be uniform, and one end of the flexible member may have an increased width w. In this example, the proximal end of the flexible member is flared such that the bending stress applied during articulation is spread around a larger area to prevent plastic deformation and / or shear fracture of the flexible member. The dimensions and shape (defined by l, w, and t) of the flexible member 104, in combination with the properties of the material forming the flexible member, can be designed to prevent premature failure due to the cyclic stresses applied during articulation. In the case where the articulated joint is designed for single use, there will be fewer cyclic stresses applied compared to when the articulated joint is designed for a reusable device. Therefore, the profile of the flexible member 104 can depend on the intended use of the articulated joint. These stresses can be modeled using a computer-aided drafting (CAD) simulation platform and verified through actual testing of the articulated joint.

[0059] The first surface 112 (of the flexible member 104) and the second surface 114 (of the link 102 located distal to the flexible member 104) define the recess 108. The proximal surface 116 of the link 102 extends around the circumference of the tubing between the recesses 108. The length of the link 102 is defined by the outer surface 118 of a section of tubing forming the link 102, specifically from the most proximal position of the proximal surface 116 to the most distal position of the distal surface 110. Those skilled in the art will determine that the selection of the profile depiction between the first link, the flexible member, and the second link and the definition of the respective surfaces is for ease of explanation.

[0060] Figure 4 shows Figure 1 a cross-section 160 of the articulated joint 100 of , which articulated joint includes two lumens 120 located on opposite sides of the inner diameter 122 of the articulated joint 100, through which respective traction wires can extend. The lumens 120 extend through the length of the articulated joint, e.g., through each of the links 102. Using a coordinate system in which the X-axis is the longitudinal axis of the link 102, the Y-axis is along a first direction orthogonal to the X-axis (in this case "up and down") and the Z-axis is along a second direction orthogonal to both the X-axis and the Y-axis (in this case "left and right"), the longitudinal axis of the lumen 120 is parallel to the longitudinal axis of the link 102 and offset therefrom in a first transverse direction (e.g., in the Y-direction), and the longitudinal axis of the flexible member 104 is offset from the longitudinal axis of the link 102 in a second transverse direction orthogonal to the first transverse direction (e.g., in the X-direction).

[0061] In other words, assuming the positive Y-axis on the circumference of the pipe fitting is 0 degrees, the lumens 120 are at 90 degrees and 270 degrees, and the flexible members 104 are at 0 degrees and 180 degrees. The traction wire can be fixed to the furthest link 102y at the distal end 140 of the articulated joint 100 and is free at the proximal end 130 such that the operating doctor can apply tension to the traction wire. The tension provides an axial force in the proximal direction from the point of fixation of the wire (e.g., the furthest link 102y). In this arrangement, the articulated joint 100 will flex in the bending plane including the link 102y.

[0062] When tension is applied to the traction wire, between the two flexible members 104, a force is applied to the link 102y along an axis offset from the transverse axis of the link 102y through the lumen 120, thereby connecting the furthest link 102y to an adjacent link 102x proximal to the furthest link 102y. This applies a bending force to the flexible members 104 such that the flexible members 104 bend in the direction of the traction wire, causing the furthest link 102y to rotate in the bending plane, causing the distal link 102y to be pulled outward in the lateral direction, and depending on the amount of tension applied, the distal link can be bent such that the distal end of the distal link 102y is pulled towards the adjacent link 102x.

[0063] Figures 5 - 6 shows Figure 1 the link 102y of the articulated joint 100 of , which link rotates towards an adjacent link 102x proximal to the link 102y. In Figure 5In this case, a proximally directed force is applied to the traction wire on the first side of link 102y. The recess 108 allows the flexible member 104 to bend. The flexible member 104 connecting the links 102 bends towards the traction wire on the first side (i.e., the hinge joint 100 bends such that one side of the hinge joint 100 (along which the traction wire being pulled proximally extends) forms the inner diameter of the bent section of the hinge joint 100. The first side of link 102y (e.g., defined by the proximal surface 116) is brought into the gap 106. When the proximal surface 116 of link 102y contacts the distal surface 110 of the adjacent link 102x, the bending reaches its maximum value.

[0064] At the same time, the bending occurs in each of the links 102 in substantially the same manner and to substantially the same extent, such that the hinge joint 100 exhibits substantially equal curvature along the length of the hinge joint 100. In Figure 6 this case, a proximally directed force is applied to the traction wire on the second side of link 102y, and link 102y rotates in the opposite direction. Thus, based on the tension applied to the traction wire, the hinge joint can be articulated into a desired shape (e.g., a desired degree of bending) or a desired curvature.

[0065] As described above, the profiles of the links 102 and the flexible member 104 permit the flexible member 104 between adjacent links 102 to bend, such that the links 102 can rotate relative to each other, thereby providing bending for the hinge joint 100. The profile of each link 102 can be designed based on the desired specifications of the hinge joint 100, which can vary depending on different endoscopes or different types of endoscopes. For example, the hinge joint can have a desired bending radius, hinge force, maximum articulation angle, coplanarity, etc. The thickness t of the tube is selected to be small enough such that the flexible member 104 can flex. The stainless steel tube forming the hinge joint 100 can be annealed either before or after laser cutting.

[0066] In addition, in Figures 1 - 6 this example, the link 102 includes additional gaps that form curls 124 in the link 102. The curls 124 provide a structure for the traction wire to pass through while maintaining sufficient flexibility for these portions of the tube, e.g., to deform or deflect slightly during articulation. The curl spacing along the hinge joint 100 can allow the hinge joint 100 to be bent into a desired shape, such as a "candy cane" shape, a "P" shape, or an "O" shape.

[0067] As described above, in various other examples, the articulated joint can be formed by various manufacturing techniques, including, for example, micro-molding, 3D printing, extrusion, and / or laser cutting. Those skilled in the art will determine that, depending on the complexity of the link profile or other design considerations, the various types of link profiles covered by the present disclosure may be better suited for manufacturing via a particular technique relative to other techniques. The articulated joint can be formed of materials including, for example, stainless steel, nitinol, plastic, polymer, or other materials.

[0068] Figures 7 - 12 Shown is an articulated joint 200 for use with an endoscopic device according to a second exemplary embodiment, the articulated joint 200 including a plurality of links 202 formed as a single piece. In Figures 7 - 12 the example, the articulated joint 200 is formed from a single integral tube. In this example, the articulated joint 200 includes 20 links, such as links 202a - 202t, where the first link 202a is located at the proximal end 230 of the articulated joint 200 and the twentieth link 202t is located at the distal end 240 of the articulated joint 200. Each pair of adjacent links 202 is connected via two flexible members 204 located on opposite sides of the circumference of the link 202. Relative to Figures 1 - 6 the articulated joint 100 described in Figures 7 - 12 the articulated joint 200 described in

[0069] Figure 8 is shown in more detail Figure 2 a portion 250 of the articulated joint 200, which portion includes a plurality of links 202, where the flexible members 204 couple adjacent links 202. Each of the internal links 202 in this example (including, for example, the fourth link 202d, the fifth link 202e, and the sixth link 202f) includes a section of tube. Similar to Figures 1 - 6 the articulated joint 100 described in

[0070] The surface portions defining the link 202 and the flexible member 204 are defined by the thickness t of the tube. The distal surface 210 of each link 202 extends circumferentially around the tube between the flexible members 204. The flexible member 204 is defined by a longitudinal length l and a width w (and a depth d equal to the thickness t). Similar to Figures 1 - 6 the link 102 described in

[0071] (the) first surface 212 (of the flexible member 204) and (the) second surface 214 (of the link 202 located distally of the flexible member 204) define the recess 208. The proximal surface 216 of each link 202 extends circumferentially around the tube between the gaps 206. The length of each link 202 is defined by the outer surface 218 of a section of the tube forming the link 202, specifically from the most proximal position of the proximal surface 216 to the most distal position of the distal surface 210. Those skilled in the art will determine that the contouring between the first link, the flexible member, and the second link and the definition of the respective surfaces are chosen for ease of explanation. Similar to Figure 1 and Figure 2 the flexible member 104 and the link 102 of the articulated joint 100 of

[0072] Figure 9 shows Figure 7 a cross-section 260 of the articulated joint 200 of Figures 1 - 6 which includes two lumens 220 located on opposite sides of the inner diameter 222 of the joint 200, through which respective traction wires can extend. Similar to the arrangement described for Figures 1 - 6 the articulated joint 100 of

[0073] Figures 10 - 11 shows Figure 7 a link 202t of the articulated joint 200 of Figure 10In [description], a proximally directed force is applied to the traction wire on the first side of link 202t. The recess 208 permits the flexible member to bend. The flexible member 204 connecting link 202 bends towards the traction wire on the first side. The first side of link 202t (e.g., defined by the proximal surface 216) is brought into the gap 206. When the proximal surface 216 of link 202t contacts the distal surface 210 of the adjacent link 202s, the bending reaches its maximum value. In Figure 11 In [description], a proximally directed force is applied to the traction wire on the second side of link 202t, and link 202t rotates in the opposite direction.

[0074] Figure 12 Shows Figure 7 the articulation joint 200 in its fully articulated shape, where each link 202 rotates by the maximum amount towards its adjacent link. As Figure 12 shown, if a certain degree of bending between adjacent links and a sufficient number of links, when the angles between the articulated links are added together, the total rotation from the nearest link 202a to the farthest link 202a reaches (or nearly reaches) 360 degrees, a full (or nearly) 360-degree curvature can be achieved. This degree of articulation can be used to articulate a joint (e.g., not extending through the entire length of the endoscope) placed near the distal end of the endoscope to provide fine control over the positioning of the distal end.

[0075] Figure 13 Shows the profile of link 300 of an articulation joint according to a third exemplary embodiment. The profile of link 300 is similar to that described for link 102 of the articulation joint 100 for Figures 1 - 6 . For example, link 300 can be formed from a tube / pipeline (or shaped into a tubular structure) and laser cut to form the link and the flexible member. In this example, the outer surface of the link (e.g., the outside of the pipe fitting) is cut / formed such that an additional gap 302 is formed in the surface, and this additional gap permits further flexibility of link 300. Structure 304 can be used to define a lumen for the traction wire to pass through.

[0076] As described above, the link profile can be designed based on any number of considerations to achieve various design goals of the articulation joint. Exemplary designs for the articulation joint are provided above, however, the exemplary embodiments are not limited thereto. In other embodiments, the articulation joint may not include a pipe fitting, and the formation of various gaps, surfaces, and flexible members may not be limited to the thickness of the pipe. For example, in other embodiments, the link can be formed into a three-dimensional shape. In these embodiments, a single flexible member extending substantially along the longitudinal axis of the link can connect adjacent links. Those skilled in the art will determine that any link design that provides sufficient gaps / recesses to permit link deflection can be used according to the above considerations.

[0077] Those skilled in the art will understand that the above embodiments can be changed without departing from the concept of the present invention. It should be further understood that the structural features and methods associated with one of the embodiments can be incorporated into other embodiments. Therefore, it should be understood that the present invention is not limited to the specific embodiments disclosed, but that modifications are also covered within the scope of the present invention as defined by the appended claims.

Claims

1. An articulation joint for an endoscope device, the articulation joint comprising: A body that longitudinally extends from a proximal end to a distal end and is shaped as a plurality of links, the plurality of links including a first link at the proximal end, a last link at the distal end, and a plurality of internal links between the first link and the last link, wherein the body is formed as a single tube with a gap formed therein, and wherein each internal link is connected to the other proximal link or the first link at the proximal end via a first flexible member that longitudinally extends between the internal link and the other proximal link, and is connected to the other distal link or the last link at the distal end via a second flexible member that longitudinally extends between the internal link and the other distal link. Wherein each internal link is shaped such that A proximal gap is formed between the internal link and the other proximal link to permit the internal link to rotate towards the other proximal link and vice versa, and a distal gap is formed between the internal link and the other distal link to permit the other distal link to rotate towards the internal link and vice versa, and Recesses are formed on both sides of each of the flexible members to permit the flexible members to bend and permit rotation about a transverse axis between the internal links; and At least one traction wire that longitudinally extends from the proximal end through the plurality of links to the distal end, wherein tension is applied to the traction wire such that at least one link rotates about the transverse axis towards another link and articulates the articulation joint.

2. The articulated joint according to claim 1, wherein, Gradually applying further tension to the traction wire causes additional links to rotate and further articulate the articulation joint into a desired shape or desired curvature.

3. The articulated joint according to claim 1 or claim 2, wherein, The size and shape of the links and the size and shape of the flexible members are selected to permit the flexible members to bend to a maximum curvature when tension is applied to the traction wire.

4. The articulated joint according to claim 3, wherein The maximum curvature of the flexible members is selected such that elastic deformation is maintained during articulation.

5. The articulated joint according to claim 3, wherein The thickness of the tube is selected to permit bending of the flexible members.

6. The articulated joint according to claim 3, wherein, The size and shape of the gap and the size and shape of the recesses are selected such that only a given link can rotate until the link contacts an adjacent proximal link and reaches the maximum curvature, whereby the adjacent proximal link can rotate until the adjacent proximal link contacts another adjacent proximal link.

7. The articulated joint according to any one of claims 1 to 6, wherein, The proximal gap, the distal gap, and the recesses are formed by laser cutting the tube.

8. The articulated joint according to claim 7, wherein, The tube is formed of stainless steel.

9. The articulated joint according to claim 7 or claim 8, wherein, Before or after the laser cutting, the tube is annealed to increase the flexibility of the flexible members.

10. The articulated joint according to any one of claims 1 to 9, wherein, The internal links include additional gaps formed by curling on the circumference of the links.

11. The articulated joint according to any one of claims 1 to 10, wherein, The profiles of the links and the flexible members are selected based on at least one of a desired bending radius, an articulation force, an articulation angle, or a coplanarity of the articulation joint.

12. The articulated joint according to any one of claims 1 to 11, wherein, The profiles of the link and the flexible member are selected such that the cyclic stresses applied during articulation of the articulation joint are not sufficient to cause failure of the articulation joint.

13. The articulation joint according to any one of claims 1 to 12, further comprising: A lumen extending through the link, offset from the longitudinal axis of the link, wherein the traction wire extends through the lumen such that applying tension to the traction wire applies a bending force to the link.

14. The articulated joint according to any one of claims 1 to 13, wherein, The body is made of one of nitinol, plastic or polymer and is made by one of micro - molding, 3D printing or extrusion processes.

15. The articulated joint according to any one of claims 1 to 14, wherein, The profiles of the link and the flexible member are selected such that articulation causes the distal end of the articulation joint to rotate 180 degrees to form a cane shape, rotate 270 degrees to form a P - shape, or rotate 360 degrees to form an O - shape.

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