Medical devices and articulating joints for medical devices - Patent Application 20070122997

Abstract

The articulation joint for a medical device includes a proximal longitudinal section, a distal longitudinal section, and a lock wire. The proximal longitudinal section defines a lumen and includes a proximal articulation link. Each proximal articulation link has a contact surface that abuts the contact surface of an adjacent proximal articulation link when the articulation joint is in a straight configuration. The distal longitudinal section is distal to the proximal longitudinal section and includes a distal articulation link configured to bend in a first direction. The lock wire extends through the lumen adjacent the contact surface of the proximal articulation link. A distal end of the lock wire is fixed to the distal articulation link, and tensioning the lock wire prevents bending of the proximal longitudinal section in the first direction and allows bending of the distal longitudinal section in the first direction.

Description

[Technical Field]

[0001] The present disclosure relates generally to endoscopic medical devices and methods of use. More particularly, in some embodiments, the present disclosure relates to endoscopes and related methods for accessing target sites having space constraints using a flexible and steerable shaft, such as, for example, an articulation joint at the distal end of the endoscope. [Background technology]

[0002] Endoscopic devices generally include a flexible shaft, a working distal tip, and a flexible, steerable shaft joining the working tip and the flexible shaft. The flexible, steerable shaft may include a bendable articulation joint. Drawbacks of the articulation joints of some conventional endoscopes include, for example, an inability to provide a suitably small bend radius and / or an appropriate bend angle for the anatomy being viewed. These drawbacks can prevent a physician from adequately visualizing and / or accessing an area of ​​the body during a procedure.

[0003] Therefore, an articulation joint that can provide an appropriate bend radius and / or bend angle when bending the articulation joint is desirable. The present disclosure may solve one or more of these or other problems in the art. However, the scope of the present disclosure is defined by the appended claims, not the ability to solve any particular problem. Summary of the Invention [Means for solving the problem]

[0004] According to one embodiment, an articulation joint for a medical device can include a proximal longitudinal section, a distal longitudinal section, and a lock wire. The proximal longitudinal section can define a lumen therethrough and can have proximal articulation links, each of which can have a contact surface that abuts a contact surface of an adjacent proximal articulation link when the articulation joint is in a straight configuration to limit bending of the proximal longitudinal section to only a first direction. The distal longitudinal section can be distal to the proximal longitudinal section and can have a distal articulation link, the distal longitudinal section configured to bend in the first direction. A lock wire can extend through the lumen adjacent the contact surface of the proximal articulation link, the distal end of the lock wire being fixed to the distal articulation link. Applying tension to the lock wire can prevent bending of the proximal longitudinal section in the first direction and allow bending of the distal longitudinal section in the first direction.

[0005] In other examples, the articulation joint may include one or more of the following features. A gap may be defined between adjacent proximal articulation links, the gap being located on a side of the proximal longitudinal section opposite the side having the contact surface. A spring may connect adjacent proximal articulation links along a surface of the adjacent proximal articulation links between the contact surface and the gap. The plurality of distal articulation links may be distal to the lock wire such that tension in the lock wire prevents the plurality of distal articulation links from straightening or bending. The lock wire may be arranged in a zigzag pattern within the lumen. The distal longitudinal section may bend in a second direction, a third direction, and a fourth direction. A pair of gaps may be defined between adjacent distal articulation links. The articulation joint may include an actuation element extending through the lumen and operable to control flexion of the articulation joint. The actuation element may include four wires for controlling bending of the articulation joint in a first direction, a second direction, a third direction, and a fourth direction. The articulation joint may include actuation holes connected to each of the proximal and distal articulation links, and the actuation element may extend through the actuation holes. The articulation joint may include a spring defining the actuation holes. A lock wire may extend through at least one of the actuation holes. At least one of the actuation holes may accommodate the lock wire and one of the actuation elements. A maximum combined bending of the proximal and distal longitudinal sections in the first direction when the lock wires are untensioned may be approximately 180 degrees, and a maximum combined bending of the proximal and distal longitudinal sections in the first direction when the lock wires are tensioned may be approximately 90 degrees. The proximal longitudinal section may be straight when the lock wire is tensioned.

[0006] In another example, an articulation joint for a medical device can include a proximal longitudinal section, a distal longitudinal section, a lock wire, a first wire, and a second wire. The proximal longitudinal section can define a lumen therethrough and can have proximal articulation links, each having a flat contact surface that abuts the flat contact surface of an adjacent proximal articulation link when the articulation joint is in a straight configuration to limit bending of the proximal longitudinal section to only a first direction. The distal longitudinal section can be distal to the proximal longitudinal section and can have a distal articulation link, the distal longitudinal section configured to bend in a first direction and a second direction opposite the first direction. A lock wire may extend through the lumen adjacent the contact surface of the proximal articulation link, a distal end of the lock wire anchored to the distal articulation link, and tensioning the lock wire prevents bending of the proximal longitudinal section in a first direction and allows bending of the distal longitudinal section in the first direction. A first wire and a second wire may each extend through the lumen, the first wire for controlling bending of the distal longitudinal section in the first direction and the second wire for controlling bending of the distal longitudinal section in the second direction, each of the first wire and the second wire extending distally beyond the distal end of the lock wire.

[0007] In other examples, the articulation device may include one or more of the following features: the distal longitudinal section may be configured to bend in a third direction and a fourth direction opposite the third direction, and the articulation joint may further include a third wire and a fourth wire, each extending through the lumen, the third wire for controlling bending of the distal longitudinal section in the third direction and the fourth wire for controlling bending of the distal longitudinal section in the fourth direction, and each of the third wire and the fourth wire may extend distally beyond a distal end of the lock wire. The lock wires may be arranged in a zigzag pattern within the lumen.

[0008] In another example, an articulation joint for a medical device can include a proximal longitudinal section, a distal longitudinal section, and a lock wire. The proximal longitudinal section defines a lumen therethrough and can have proximal articulation links, each having a contact surface that abuts a contact surface of an adjacent proximal articulation link when the articulation joint is in a straight configuration to limit bending of the proximal longitudinal section to only a first direction. The distal longitudinal section can be distal to the proximal longitudinal section and can have a distal articulation link, the distal longitudinal section configured to bend in a first direction and a second direction opposite the first direction. A lock wire may extend through the lumen adjacent the contact surface of the proximal articulation link, a distal end of the lock wire anchored to the distal articulation link, and tensioning the lock wire prevents bending of the proximal longitudinal section in a first direction, allows bending of the distal longitudinal section in the first direction, and holds the proximal longitudinal section in a straight configuration. When the lock wire is untensioned, the proximal and distal longitudinal sections may bend 180 degrees in the first direction. When the lock wire is tensioned, the maximum combined bend of the proximal and distal longitudinal sections in the first direction may be approximately 90 degrees.

[0009] In other examples, the articulation joint may include four wires extending through the lumen and operable to control bending of the articulation joint in a first direction, a second direction, a third direction, and a fourth direction. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view of a medical device according to one embodiment. [Figure 2] 4 is a cross-sectional view of the articulation joint of the medical device according to FIG. 3 along section AA. [Figure 3] FIG. 3 is a perspective view of the articulation joint of FIG. 2; [Figure 4A] FIG. 4 is a side view of the articulation joint of FIG. 3. [Figure 4B] FIG. 4 is a side view of the articulation joint of FIG. 3. [Figure 4C] FIG. 4 is a side view of the articulation joint of FIG. 3. [Figure 4D] FIG. 4 is a side view of the articulation joint of FIG. 3. [Figure 5] FIG. 4 is a cross-sectional view of the articulation joint of FIG. 3 taken along section BB. DETAILED DESCRIPTION OF THE INVENTION

[0011] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate various exemplary embodiments and, together with the description, serve to explain the principles of the disclosed embodiments. Both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the claimed features. As used herein, the terms "comprises," "comprising," "having," "including," or other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus comprising a list of elements does not include only those elements, but may include other elements not expressly listed or inherent in such process, method, article, or apparatus. In this disclosure, relative terms such as "about," "substantially," "generally," and "approximately" are used to indicate a possible variation of ±10% in a stated value or property.

[0012] 1, an endoscope 10 according to one embodiment is shown. The endoscope 10 includes a flexible shaft 20, a tip 30 at the distal end of the endoscope 10, and an articulation joint 50 disposed between and connecting the flexible shaft 20 and the tip 30. A handle 40 or some other device for operating or controlling the endoscope 10, and any tools or devices associated with the endoscope 10, is connected to the proximal end of the flexible shaft 20.

[0013] Referring to FIG. 1 in combination with FIGS. 4A-4D , multiple actuating elements 12 and locking wires 60 may extend distally from the proximal end of the endoscope 10. The actuating elements 12 and locking wires 60 may be of any suitable construction and material, such as a cable or wire suitable for medical procedures (e.g., medical-grade plastic or metal). In some embodiments, the actuating elements 12 and locking wires 60 may be the same material, while in other embodiments, the actuating elements 12 and locking wires 60 may have different materials. The actuating elements 12 and locking wires 60 are shown between adjacent links, for example, in FIGS. 4A-4D . The actuating elements 12 and locking wires 60 may extend into the handle 40 and be indirectly connected to first, second, and third actuating devices 41, 42, and 43 that control the articulation of the articulation joint 50 in multiple directions. The devices 42 and 43 may be, for example, rotatable knobs that rotate about their axes to push / pull the actuating elements 12. Actuation device 41 may be any suitable actuator, including a knob, lever, or the like, for pushing / pulling / tensioning lock wire 60. For example, actuation device 41 may be a rotatable lever as shown. The lever can be rotated clockwise or counterclockwise to push / pull lock wire 60. In other embodiments, actuation device 41 may be a knob, such as actuation devices 42 and 43, and may be positioned adjacent to and aligned with the axes of actuation devices 42 and 43. Alternatively, or additionally, a user may operate actuation element 12 and / or lock wire 60 independently of handle 40.

[0014] The distal ends of the actuation elements 12 extend through the flexible shaft 20 and terminate at the articulation joint 50 (at or near the distal end of the articulation joint 50) and / or the tip 30. For example, one or more actuation elements 12 may be connected to the articulation joint 50, and one or more other actuation elements 12 may be attached to the tip 30. As described herein, actuation of the actuation elements 12 may control the articulation joint 50, the tip 30, and / or an element attached to the tip 30, such as an end effector (not shown). The distal end of the lock wire 60 may extend through the flexible shaft 20 and terminate at the articulation joint 50 (at an intermediate point along the joint 50, as described further herein). Additionally, one or more electrical cables (not shown) may extend from the proximal end of the endoscope 10 to the tip section 30 and may provide electrical control for imaging, lighting, and / or other electrical devices at the tip section 30, and may transmit imaging signals from the tip section 30 proximally to be processed and / or displayed on a display. The handle 40 may also include ports 44, 46 for introducing and / or removing tools, fluids, or other materials from a subject. Port 44 may be used to introduce tools. Port 46 may be connected to an umbilicus for introducing fluid suction and / or wiring for electronic components.

[0015] As shown in FIG. 2 , the articulation joint 50 includes a portion of the endoscope lumen 22 extending through the endoscope 10. The articulation joint 50 also includes a plurality of springs 24. For ease of understanding, only some of the springs 24 are identified in FIG. 3 . Additionally, the springs 24 are omitted from FIGS. 4A-4F for ease of understanding (the springs 24 are disposed between pairs of laser welds 28, described below). The springs 24 connect adjacent links of the articulation joint 50, as described in more detail herein. The endoscope lumen 22 may extend from the handle 40, through the flexible shaft 20, into the articulation joint 50, and through the distal end of the tip section 30. The endoscope lumen 22 may receive tools, imaging devices, and other devices associated with the endoscope 10 to perform an endoscopic procedure. Additionally, tissue samples and / or other material may be removed from a subject through the endoscope lumen 22. It will be understood that endoscope 10, including flexible shaft 20 and articulation joint 50, is not limited to a single endoscope lumen 22, but may include any number of endoscope lumens necessary to perform a procedure. Alternatively, or additionally, one or more catheters (not shown) may be introduced through endoscope lumen 22 to remove tissue and / or insert tools.

[0016] 2 , the springs 24 define actuation holes 25 through which the actuation elements 12 may extend. According to one embodiment, one actuation element 12 or multiple actuation elements 12 may be disposed within the single actuation hole 25 of each spring 24. Additional actuation holes, such as eyelets (not shown), may extend from the proximal end of the flexible shaft 20 to its distal end and provide a path through which the actuation elements 12 may extend, thereby preventing the actuation elements 12 from becoming tangled or otherwise adversely affecting the operation of the endoscope 10.

[0017] 3, distal-most link 29 may be connected to tip 30. Tip 30 may include a camera, lighting, electronics (such as a printed circuit board), an end effector or tool (none of such elements are shown), or any other device used in a therapeutic or diagnostic procedure. It will be understood that tip 30 may include multiple elements, for example, both a camera and an end effector, for both visualizing the target site and collecting samples from the target site.

[0018] Articulation joint 50 is further described with reference to FIGS. 3 and 4A-4D. Articulation joint 50 includes a plurality of generally cylindrical links with a plurality of gaps provided therebetween. For example, as shown in FIG. 3, articulation joint 50 includes first link section 52, third link section 56, and second link section 54 disposed between and connecting first link section 52 and third link section 56. The plurality of links may define a lumen 32 extending therethrough. Lumen 32 may form a portion of endoscope lumen 22 (shown in FIG. 1). Spring 24 and actuation bore 25 may be coupled to the plurality of links within lumen 32.

[0019] The first, second, and third link sections 52, 54, 56 are formed from a first link type 50a, a second link type 50b, and a third link type 50c, respectively (see FIG. 4C ). According to one embodiment, the first, second, and third link types 50a, 50b, and 50c may be the same or different shapes and / or sizes. For example, the first link type 50a is longer along the longitudinal axis A than the second and third link types 50b, 50c. Unless otherwise specified, the first link type 50a, the second link type 50b, and the third link type 50c are generally referred to as “links.” The links may be formed, for example, by laser cutting tubing (such as metal tubing, plastic tubing, or any other medical-grade material known in the art), but are not limited to being formed in this manner. As described in more detail herein, the plurality of links may include partial articulation links and full articulation links. More specifically, the first link section 52 may include a partial articulation link, and the second link section 54 and the third link section 56 may include full articulation links.

[0020] As further shown in FIGS. 2 and 3 , spring 24 joins adjacent links in each of first, second, and third link sections 52, 54, 56. Additionally, spring 24 may connect the distal-most link of first link section 52 to the proximal-most link of second link section 54, the distal-most link of second link section 54 to the proximal-most link of third link section 56, and / or the distal-most link of third link section 56 to the distal-most link 29. As described in more detail herein, adjacent links are able to flex relative to one another due to the spacing between the links and through the flexibility of spring 24. While the example shows two springs 24 joining adjacent links, the invention is not limited to this configuration. According to one example, spring 24 is attached to an inner surface of articulation joint 50 by, for example, laser welding, adhesive, rivets, or any other technique known in the art. For example, laser welds 28 are shown in FIG. 3 at the locations where springs 24 are attached to adjacent links.

[0021] As shown in FIG. 4B , articulation joint 50 is in a straight configuration and includes a longitudinal axis A extending through the center of each of first, second, and third link sections 52, 54, 56. Articulation joint 50 is configured to flex in four different directions (e.g., up, down, left, and right) that are 90 degrees apart from one another about axis A. Briefly referring to FIG. 3 in conjunction with FIGS. 4A-4D , the directions of flexion are designated as first side 58 a, second side 58 b, third side 58 c (shown and labeled in FIG. 2 as pointing into the page), and fourth side 58 d (shown and labeled in FIG. 2 as pointing out of the page), and are oriented approximately 90 degrees from each adjacent side. The first side 58a is opposite (approximately 180 degrees apart from) the second side 58b, and the third side 58c is opposite (approximately 180 degrees apart from) the fourth side 58d. As shown in FIGS. 4A and 4C , the links are bent relative to each other in each of the first, second, and / or third link sections 52, 54, 56. The springs 24 are disposed on only two adjacent sides of the first link section 52, e.g., the third side 58c and the fourth side. As described in more detail below, the springs 24 are disposed on the first, second, third, and fourth sides 58a, 58b, 58c, 58d of the second link section 54 and the third link section 56.

[0022] As shown in FIG. 4C , each link includes an end surface 51 that faces an adjacent link. The end surfaces 51 of adjacent links contact when articulation joint 50 is in a straight configuration. For example, the contact may include point contact between adjacent end surfaces 51 at third side 58 c and fourth side 58 d of adjacent link 50 c. For ease of understanding, only some of the end surfaces 51 are identified by numerals in FIGS. 4A-4D . However, it will be understood that an end surface 51 is provided at each end of each link.

[0023] With particular reference to the first link section 52, the end face 51 can include a flat contact surface 53. The flat contact surface 53 can be flat or planar in a plane perpendicular to the longitudinal axis A, as shown in FIGS. 4A-4D. The flat contact surface 53 can extend partially around the circumference of the adjacent link 50a, for example, around the second side 58b. As shown in particular in FIG. 4C, the flat contact surface 53 of the end face 51 can prevent articulation of the first link section 52 toward the second side 58b.

[0024] Opposite the flat contact surface 53, each link of an adjacent link 50a may include a gap G. Thus, on the first side 58a of the first link section 52, the end face 51 of one link 50a is spaced apart from the end face 51 of an adjacent link 50a. As shown in FIG. 4A , as the articulation joint 50 bends toward the first side 58a, the end face 51 approaches the end face 51 of the adjacent link 50a, closing the gap G when the articulation joint 50 is fully bent toward the first side 58a.

[0025] As described above, the spring 24 connects adjacent links 50a to each other at only two sides, e.g., the third side 58c and the fourth side 58d. In other words, the spring 24 may be disposed between the flat contact surface 53 and the gap G. The spring 24 maintains contact between adjacent links 50a at the third side 58c and the fourth side 58d. Additionally, the spring 24 is a tightly wound coil spring with no space between adjacent coils when the spring is in a straight configuration. Therefore, the links having the first link type 50a in the first link section 52 cannot bend toward the third side 58c or the fourth side 58d. Therefore, according to one embodiment, the links 50a in the first link section 52 bend in a single direction, e.g., toward the first side 58a. Therefore, it will be understood that adjacent links 50a in the first link section 52 can be considered partial articulation links.

[0026] Referring now to second link section 54 and third link section 56, as shown in FIGS. 4A-4D , end face 51 of second link 50b contacts end face 51 of adjacent link 50b on only one side, i.e., second side 58b, when articulation joint 50 is in a straight configuration. End face 51 of third link type 50c does not contact end face 51 of adjacent link 50c when articulation joint 50 is in a straight configuration. When second link 50b is bent toward first side 58a, end face 51 of second link 50b contacts end face 51 of adjacent second link 50b. When third link 50c is bent toward first or second side 58a, 58b, end face 51 of third link 50c contacts end face 51 of adjacent third link 50c. Contact between end faces 51 of adjacent links prevents further bending of the adjacent links of articulation joint 50 and results in maximum bending of articulation joint 50 in that particular direction.

[0027] Additionally, springs 24 are attached to all four sides (58a, 58b, 58c, 58d) of the second link section 54 and the third link section 56. However, the springs 24 are attached to adjacent links at offset positions. For example, three adjacent links 100 (see FIG. 3) include two pairs of adjacent links. The first pair of adjacent links 100A, 100B are attached to each other at the first and second sides 58a, 58b by springs 24 so that the first pair of adjacent links 100A, 100B cannot flex relative to each other toward the first and second sides 58a, 58b. The second pair of adjacent links 100B, 100C are attached together via springs 24 at the third and fourth sides 58c, 58d. Thus, the second pair of adjacent links 100B, 100C cannot bend relative to each other toward the third and fourth sides 58c, 58d due to the arrangement of springs 24. Each of links 100A, 100B, and 100C defines a pair of gaps (shown as gaps in FIG. 4B) between the link and the adjacent link. Collectively, the three adjacent links 100 are movable in four directions, i.e., toward each of the four sides 58a, 58b, 58c, and 58d.

[0028] 4A-4D, it will be understood that adjacent link 50c of third link section 56 may be considered a fully articulated link. As used herein, "full" articulation means that the link section is not prevented from articulating toward one side because first link section 52 is prevented from articulating toward first side 58b.

[0029] Referring to articulation joint 50 as a whole, adjacent links in each of first, second, and third link sections 52, 54, 56 are bendable relative to one another in at least one direction. The angle at which adjacent links can bend and the spacing between these adjacent links may be equal to the smallest bend radius at which the imaging wire and other components can bend and continue to function. For example, the maximum bend angle B for adjacent links spaced 0.3 inches (0.76 cm) to 0.7 inches (1.78 cm) apart is approximately 20 to 40 degrees, preferably approximately 25 to 35 degrees with a spacing of 0.4 inches (1.02 cm) to 0.6 inches (1.52 cm) between adjacent links, and more preferably approximately 30 degrees with a spacing of 0.5 inches (1.27 cm) between adjacent links.

[0030] 4A-4D, longitudinal axis A extends along the Y-axis, and articulation joint 50 bends in the YZ plane. As shown in FIG. 4B, a first gap G is provided along first side 58a of articulation joint 50 between adjacent links in first link section 52 and between the distal-most link in first link section 52 and the proximal-most link in second link section 54. A second gap H is provided between adjacent links in second link section 54 on first side 58a. A third gap I is provided between links in third link section 56 and between the distal-most link of third link section 56 and the distal-most link 29 on both first side 58a and second side 58b.

[0031] The first, second, and third gaps G, H, and I allow articulation joint 50 to flex an amount equal to the bend angle B multiplied by the total number of gaps. For example, if bend angle B is 30 degrees and there are seven total gaps on first side 58a, articulation joint 50 may bend 210 degrees from longitudinal axis A, allowing tip 30 to point toward the entry point of endoscope 10 into the subject. The size of gaps G, H, and I may be varied to achieve a desired bend angle. For example, gap H and the three gaps I may be made smaller so that the bend angle between adjacent links defining those gaps is approximately 22.5 degrees. In that case, the total angle of flexion of joint 50 caused by those gaps is 90 degrees. It will also be understood that the bend angles are merely examples, and the bend angle of each different gap may be different for each gap type, e.g., each different gap G from a plurality of gaps G may have a different bend angle.

[0032] According to one embodiment, third gap I at second side 58b allows adjacent links to bend at the same angle B as first gap G. However, the angle associated with third gap I at second side 58b is not limited to angle B and may be any angle that optimizes the flexion angle of articulation joint 50. As shown in FIG. 4C , third gap I allows third link section 56 and distal-most link 29 to bend away from longitudinal axis A toward second side 58b, while first link section 52 and second link section 54 do not bend toward second side 58b, i.e., first link section 52 and second link section 54 remain coaxial with longitudinal axis A. This configuration allows articulation joint 50 to bend 90 degrees toward second side 58b. Because this bending is achieved by bending using only a portion of the gap, i.e., only the three third gaps I, the bending radius of articulation joint 50 is reduced, and therefore articulation joint 50 can bend in a smaller space. Although second link section 54 is shown as being able to bend in three directions, it will be understood that second link section 54 may, in some embodiments, be able to bend in only two directions.

[0033] As described above, the articulation or flexion of articulation joint 50 can be controlled by actuation elements 12. Specifically, articulation joint 50 can include four actuation elements that can control the flexion of articulation joint 50 in four directions. For example, by tightening / tensioning articulation elements 12 extending along second side 58b and relaxing articulation elements 12 extending along first side 58a, articulation joint 50 can flex toward second side 58b, as depicted in FIG. 4C .

[0034] 4A-4D , articulation joint 50 may include a lock wire 60. Lock wire 60 may extend through lumen 32 and may be attached to and terminate at link 50b' of an adjacent link 50b of second link section 54. As shown, link 50b' may be distal to and directly adjacent first link section 52. In some embodiments, lock wire 60 may extend through actuation holes 25 (e.g., shown in FIGS. 2 and 3 ). In particular, one or more of actuation holes 25 may be sized to fit both lock wire 60 and one of actuation elements 12, and lock wire 60 and articulation element 12 may extend through the same articulation hole 25.

[0035] The lock wire 60 may be positioned adjacent to the flat contact surface 53, for example, along the second side 58b, and terminate inside the link 50b' at point 62. Thus, when pulled tight, the lock wire 60 can selectively prevent articulation about the flat contact surface 53, for example, toward the first side 58a. Movement of the second link section 54 and the third link section 56 may be unaffected by the lock wire 60. In other words, when the lock wire 60 is tightened / pulled, the configuration of the articulation joint 50 shown in FIG. 4A may be prevented; instead, the articulation joint 50 may be limited to approximately 90 degrees of bend in each direction, as shown in FIG. 4D. This restriction on the movement of the first link section 52 may allow the articulation joint 50 to bend more easily in a smaller space. When lock wire 60 is released, lock wire 60 may allow adjacent link 50a to move toward first side 58a, such that articulation joint 50 may achieve the configuration shown in FIG. 4A. As will be appreciated, lock wire 60 may allow selective control of the range of articulation of articulation joint 50, particularly toward first side 58a. This may allow for easier transition of articulation joint 50 between larger and smaller spaces, where the space available for articulation may vary.

[0036] A method of using endoscope 10 may include inserting endoscope 10 into a subject's mouth and guiding tip 30 and articulation joint 50 through the subject's esophagus and into the subject's stomach. Articulation joint 50 can then be actuated by moving or rotating actuation devices 42 and / or 43. As described above, moving or rotating actuation devices 42 and 43 can tighten or loosen actuation element 12, thereby actuating (bending) articulation joint 50. Specifically, the method may include actuating articulation joint 50 so that tip 30 faces the fundus or top of the subject's stomach (e.g., so that articulation joint 50 is positioned as shown in FIG. 4A ). This full range of articulation may allow a camera, which may be positioned within tip 30, to view all areas within the stomach.

[0037] In some embodiments, the user of endoscope 10 may then desire to view a portion of the GI tract distal to the stomach, such as the duodenum. The user may first straighten articulation joint 50 by releasing tension on actuation element 12 (the configuration shown in FIG. 4B ). Then, tip 30 and articulation joint 50 may be advanced into the duodenum. To view tissue on the duodenum (which is a narrower space than the stomach), the method may include moving or rotating actuation device 41 to tighten locking wire 60. This limits articulation of tip 30 and articulation joint 50 to the configurations shown in FIGS. 4B, 4C, and 4D . Tension on actuation element 12 may then be applied to achieve one or more of these configurations. Thus, tip 30 and articulation joint 50 can be more easily advanced into and articulated within the duodenum.

[0038] As will be appreciated, the above-described endoscope 10 and the exemplary method of use described above may enable visualization of the stomach and duodenum using a single device, i.e., the endoscope 10. This may be easier and faster than using a first device, such as a gastroscope, to view the stomach and a second device, such as a duodenoscope, to view the duodenum.

[0039] FIG. 5 is a cross-sectional view along B-B of articulation joint 50 of FIG. 3 , showing the inner portion of first link section 52, the proximal-most link 50b′ of second link section 54, and lock wire 60. In this embodiment, lock wire 60 may extend through lumen 32 adjacent to flat contact surface 53, but may not extend through one of the actuation holes 25. Notably, in some such embodiments, lock wire 60 may instead extend through wire supports 64, which may be eyelets, springs, or other suitable structures. Wire supports 64 may be located on alternating sides of actuation holes 25 (lateral to an axis passing through actuation holes 25 located on the same side of joint 50). Lock wire 60 may terminate in end supports 64′ aligned along the same axis as the actuation holes on that side of joint 50. In addition, proximal-most supports 64″ are located along the same axis as the actuation holes on that side of joint 50. In this manner, lock wire 60 may be arranged in a zigzag pattern along adjacent links 50a and 50b' as it extends through wire support 64. This may be beneficial in some embodiments as it may keep lock wire 60 out of the way of wires 12 or other structures and / or allow movement of first section 52 of the link to be more tightly restricted when lock wire 60 is tightened.

[0040] It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed devices without departing from the scope of the present disclosure. For example, the configuration of the gaps and links and the bend angle can be changed to fit any medical device. It will be understood that the bend angle, the size of each gap, and / or the number of gaps and links are not limited to the examples described herein. Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the invention being indicated by the following claims.

Claims

1. 1. An articulation joint for a medical device, the articulation joint comprising: a proximal longitudinal section defining a lumen therethrough and having proximal articulation links, each proximal articulation link having a contact surface that abuts a contact surface of an adjacent proximal articulation link to limit bending of the proximal longitudinal section to only a first direction when the articulation joint is in a straight configuration; a distal longitudinal section distal to the proximal longitudinal section, the distal longitudinal section having a distal articulation link, the distal longitudinal section configured to bend in the first direction; a lock wire extending through the lumen adjacent the contact surface of the proximal articulation link, a distal end of the lock wire fixed to the distal articulation link, wherein tensioning the lock wire prevents bending of the proximal longitudinal section in the first direction and allows bending of the distal longitudinal section in the first direction; 1. An articulating joint comprising:

2. The articulation joint of claim 1 , wherein a gap is defined between adjacent proximal articulation links, the gap being located on an opposite side of the proximal longitudinal section from the side having the contact surface.

3. The articulation joint of claim 2 , wherein a spring connects adjacent proximal articulation links along a surface of the adjacent proximal articulation links between the contact surface and the gap.

4. 4. The articulation joint of claim 1, wherein the distal articulation links are distal to the lock wire and tensioning the lock wire does not straighten or bend the distal articulation links.

5. An articulation joint according to any preceding claim, wherein the lock wires are arranged in a zigzag pattern within the lumen.

6. The articulation joint of any one of claims 1 to 5, wherein the distal longitudinal section flexes in a second direction, a third direction, and a fourth direction.

7. An articulation joint according to any preceding claim, wherein a pair of gaps are defined between adjacent distal articulation links.

8. An articulation joint according to any preceding claim, further comprising an actuation element extending through the lumen and operable to control flexion of the articulation joint.

9. 9. The articulation joint of claim 8, wherein the actuation element comprises four wires for controlling flexion of the articulation joint in the first direction, second direction, third direction, and fourth direction.

10. The articulation joint of claim 9 , further comprising an actuation aperture connected to each of the proximal articulation link and the distal articulation link, the actuation element extending through the actuation aperture.

11. The articulation joint of claim 10 further comprising a spring, said spring defining said actuation hole.

12. The articulation joint of claim 10 , wherein the lock wire extends through at least one of the actuation holes.

13. The articulation joint of claim 12 , wherein the at least one of the actuation holes accommodates one of the lock wire and the actuation element.

14. 14. The articulation joint of claim 1, wherein a maximum combined flexion of the proximal and distal longitudinal sections in the first direction when the lock wires are not tensioned is approximately 180 degrees, and a maximum combined flexion of the proximal and distal longitudinal sections in the first direction when the lock wires are tensioned is approximately 90 degrees.

15. An articulation joint according to any preceding claim, wherein the proximal longitudinal section is straight when the lock wire is under tension.

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