Medical devices including articulation joints and related assembly methods

Abstract

An articulation joint for a medical device has a proximal end and a distal end. The articulation joint includes a plurality of links, one or more actuation wires, and at least one stiffening element. Each link of the plurality of links is configured to articulate relative to an adjacent link of the plurality of links. Each actuation wire extends through an actuation channel of the plurality of links. Each actuation wire is fixedly attached proximate a distal end of the articulation joint and is translatable relative to the plurality of links to articulate the articulation joint. At least one stiffening element extends through the stiffening channel of the plurality of links. The at least one stiffening element has a proximal end fixedly attached to one link of the plurality of links and a distal end fixedly attached to another link of the plurality of links.

Description

[Technical Field]

[0001] FIELD OF THE DISCLOSURE The present disclosure relates generally to medical devices that include articulation joints and methods of assembling such medical devices. [Background technology]

[0002] Elongated medical devices, such as endoscopes and bronchoscopes, 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 and a manipulation wire that is manipulable to bend the articulation joint. The manipulation wire is often threaded through the articulation joint, which can make assembly difficult or reduce working channel space.

[0003] Furthermore, many articulation joints are made of a single material and have a single stiffness that cannot be easily changed for a variety of different devices. In other words, the amount of effort required to articulate the joint and the resulting clinical performance are constant for a given articulation joint design, and therefore, that design may not be suitable for different devices or procedures. However, certain medical devices, procedures, and / or users may benefit from more tactile feedback and therefore higher stiffness. Similarly, some medical devices, procedures, and / or users may prefer lower stiffness. 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 a particular problem. Summary of the Invention

[0004] According to one example, an articulation joint for a medical device may have a proximal end and a distal end. The articulation joint may include a plurality of links, one or more actuation wires, and at least one stiffening element. Each link of the plurality of links may be configured to articulate relative to an adjacent link of the plurality of links. Each actuation wire may extend through an actuation channel of the plurality of links. Each actuation wire may be fixedly attached proximate a distal end of the articulation joint and may be translatable relative to the plurality of links to articulate the articulation joint. At least one stiffening element may extend through the stiffening channel of the plurality of links. The at least one stiffening element may have a proximal end fixedly attached to one link of the plurality of links and a distal end fixedly attached to another link of the plurality of links.

[0005] In another example, each link of the plurality of links may include a wall having a radially inner surface and a radially outer surface, and each stiffening channel is defined by the radially outer surface of the corresponding link and opens at a side of the corresponding link. Each link of the plurality of links may include a wall having a radially inner surface and a radially outer surface, and each actuating channel is defined by the radially outer surface of the corresponding link and opens at a side of the corresponding link. The stiffening channel may have a concave shape. The stiffening channel may be surrounded by the wall of the corresponding link. The actuating channel may have an enclosed shape. The stiffening channel may have a rectangular cross-sectional shape. The at least one stiffening element may include a first stiffening element and a second stiffening element disposed opposite the first stiffening element. The plurality of links may include a specific link, a proximal link, and a distal link, and the at least one stiffening element may include two proximal stiffening elements connecting the specific link to the proximal link and two distal stiffening elements connecting the specific link to the distal link. The two proximal stiffening elements may be positioned opposite each other and at 90 degrees relative to each of the two distal stiffening elements. At least one stiffening element may be continuous from the proximal end to the distal end. The one or more actuation wires may include two or four actuation wires. The articulation joint may include a gap disposed between links of the plurality of links, the gap being narrowest at the location of the at least one stiffening element. The articulation joint may include a second stiffening element. Each link of the plurality of links may include a wall portion having a radially inner surface and a radially outer surface, and each stiffening channel is disposed on the radially outer surface of the corresponding link.

[0006] In another example, a method of assembling a medical device may include selecting a stiffening element, assembling the stiffening element into a plurality of stiffening channels of a plurality of links of an articulation joint of the medical device, and fixedly attaching a proximal end of the stiffening element to one link of the plurality of links and a distal end of the stiffening element to another link of the plurality of links. The articulation joint may include at least one actuation wire extending through the plurality of actuation channels of the plurality of links such that actuation of the at least one actuation wire causes each link of the plurality of links to articulate relative to an adjacent link of the plurality of links.

[0007] In another example, each link of the plurality of links may include a wall portion having a radially inner surface and a radially outer surface, and each stiffening channel of the plurality of stiffening channels is defined by the radially outer surface of the corresponding link and is open at a side of the corresponding link.

[0008] In another example, a medical device may include a handle, an articulation joint, a flexible shaft disposed between the handle and the articulation joint, and a tip disposed distal to the articulation joint. The articulation joint may have a proximal end and a distal end and may include a plurality of links, one or more actuation wires, and at least one stiffening element. Each link of the plurality of links may be configured to articulate relative to an adjacent link of the plurality of links. Each actuation wire may extend through an actuation channel of each link of the plurality of links and be fixedly attached proximate the distal end of the articulation joint and may be translatable relative to the plurality of links to articulate the articulation joint. At least one stiffening element may extend through the stiffening channel of each link of the plurality of links. The at least one stiffening element may have a proximal end fixedly attached to one link of the plurality of links and a distal end fixedly attached to another link of the plurality of links.

[0009] In other examples, each link may define four stiffening channels. The stiffening elements may be non-metallic. 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. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a side view of a medical device according to one embodiment. [Figure 2A] 2 is an end view of a link of an articulation joint of the medical device of FIG. 1 according to one embodiment. [Figure 2B] FIG. 10 is a perspective view of another link of an articulation joint according to one embodiment. [Figure 2C] FIG. 10 is an end view of yet another link of an articulation joint, according to one embodiment. [Figure 3] FIG. 2B is a perspective view of an articulation joint having the link of FIG. 2A according to one embodiment. [Figure 4A] FIG. 12 is a perspective view of another articulation joint according to one embodiment. [Figure 4B] FIG. 4B is another perspective view of the articulation joint of FIG. 4A, according to one embodiment. [Figure 5A] FIG. 10 is a perspective view of another link of an articulation joint according to one embodiment. [Figure 5B] FIG. 5B is an exploded perspective view of an articulation joint having the link of FIG. 5A according to one embodiment. [Figure 5C] FIG. 5B is an assembled perspective view of an articulation joint having the link of FIG. 5A, according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] 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 also include other elements not expressly listed or inherent to 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 index.

[0012] Referring to FIG. 1 , a medical device 10 according to one embodiment is shown. The medical device 10 may be an endoscope, bronchoscope, ureteroscope, colonoscope, duodenoscope, cystoscope, catheter, sheath, or other elongated device for insertion into a patient. The medical device 10 includes a flexible shaft 20, a tip 30 at a distal end 32, 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 actuating or controlling the medical device 10 and any tools or devices associated with the medical device 10 is connected at the proximal end of the flexible shaft 20.

[0013] Referring to FIG. 1 in conjunction with FIG. 3, one or more actuation elements 12 may extend distally from the proximal end of the medical device 10. The actuation elements 12 may be of any suitable construction and material, such as a cable or wire (e.g., medical-grade plastic or metal) suitable for a medical procedure. The actuation elements 12 may extend into the handle 40 and may be indirectly coupled to an actuation device 42 that controls the articulation of the articulation joint 50. The actuation device may be, for example, a rotatable knob that rotates about an axis to push / pull and apply tension to the actuation elements 12. Alternatively or additionally, a user may operate the actuation elements 12 independently of the handle 40. A locking knob 43 may be used to retain or lock the actuation device 42 in a desired actuation position, thereby maintaining the articulation joint 50 in a desired bending orientation.

[0014] The actuation elements 12 extend through the flexible shaft 20 and terminate at the articulation joint 50 (at or near the distal end 52 of the articulation joint 50) and / or at the tip 30. For example, one or more actuation elements 12 may be connected to the articulation joint 50, and / or one or more other actuation elements 12 may be attached to the tip 30. As described herein, actuation (pushing / pulling, tensioning) of the actuation elements 12 may control bending of the articulation joint 50. Additionally, one or more electrical cables (not shown) may extend from the proximal end of the medical device 10 to the tip 30 and may provide electrical control for imaging, lighting, and / or other electrical devices at the tip 30, and may carry imaging signals proximally from the tip 30 for processing and / or display. The handle 40 may also include ports 44, 46 for introducing and / or removing tools, fluids, or other substances from the subject. The port 44 may be used to introduce a tool. Port 46 may be connected to an umbilicus for introducing fluid, suction and / or wiring for electronic components.

[0015] 1 and 3 , one or more rigid elements 14 may extend through or adjacent to the articulation joint 50. The rigid element 14 may extend continuously from the proximal end 54 of the articulation joint 50 to the distal end 52 of the articulation joint 50. The stiffening element 14 may be coupled to the proximal end 54 of the articulation joint 50 at a first attachment point and to the distal end 52 at a second attachment point. The rigid element 14 may be of any suitable construction and material, such as a cable or wire (e.g., medical-grade plastic or metal) suitable for medical procedures. In some embodiments, the rigid element 14 may be of the same material and / or construction as the actuation element 12, while in other embodiments, the material and / or construction may be different. Notably, in some embodiments, the rigid element 14 may be of a more rigid material and construction than the actuation element 12. This may increase the stiffness of the articulation joint 50 while still allowing flexion or movement of the articulation joint 50. In other embodiments, the rigid elements 14 may be of a less stiff material and construction than the actuation elements 12, thereby providing a relatively less stiff articulation joint 50. In still other embodiments, the material, stiffness, cross-sectional size, and / or length of one rigid element 14 may be different from that of another rigid element 14 of the same articulation joint 50. In some embodiments, the rigid elements 14 may be made of a material that is different from the material of the links 60, which are described further herein. Suitable materials for the rigid elements 14 include stainless steel, nitinol, or other metallic materials, or non-metallic materials such as resins or plastics.

[0016] As shown in FIGS. 1-2C , the articulation joint 50 includes a portion of the lumen 22 extending through the medical device 10. The lumen 22 extends from the handle 40, through the flexible shaft 20, into the articulation joint 50, and may further extend through the distal end of the tip section 30. The lumen 22 may accommodate tools, imaging devices, and other devices associated with the medical device 10 to perform an endoscopic or other medical procedure. Additionally, tissue samples and / or other materials may be removed from a subject through the lumen 22. It will be understood that the medical device 10, including the flexible shaft 20 and articulation joint 50, is not limited to a single channel / lumen 22, but may include any number of lumens necessary to perform a procedure. Alternatively or additionally, one or more catheters (not shown) may be introduced through the lumen 22 to remove tissue and / or insert tools.

[0017] Referring to the first embodiment shown in FIGS. 1, 2A, and 3, the articulation joint 50 may include links 60 disposed along the axis of the articulation joint 50. Each link 60 may have an inner surface 62 and an outer surface 64, defining a wall 63 therebetween. The lumen 22 may extend through the link 60 and be defined by the inner surface 62. Each wall 63 of the link 60 may define a protrusion 65 extending radially inward into the channel / lumen 22. Each protrusion 65 includes and completely surrounds an actuation channel 66 through which an actuation element 12 may extend. In some embodiments, each link 60 may have two actuation channels 66 disposed opposite each other. In other words, the actuation channels 66 may be spaced approximately 180 degrees apart around the inner surface 62.

[0018] Each link 60 may define a stiffening channel 68 through which the rigid element 14 may extend. The stiffening channel 68 may be a recess in the wall 63 of the link 60 and may have a concave shape, such as a curved or polygonal shape, directed inward and within the wall 63. The stiffening channel is disposed on and defined by the outer surface 64, is open at the side of the link 60, and may not be completely surrounded by the wall 63 of the link 60. In some embodiments, each link 60 may have two or more stiffening channels 68 radially disposed around the outer surface. In particular, in some embodiments, each link 60 may have two stiffening channels 68 disposed opposite each other. In other words, the stiffening channels 68 may be spaced approximately 180 degrees apart around the outer surface 64.

[0019] FIG. 2B illustrates another embodiment of a link 60′ for use in articulation joint 50. Similar reference numerals will be used to describe link 60′. Link 60′ is similar to link 60 except as described herein. For example, lumen 22 may extend through link 60′ and be defined by an inner surface 62′. As shown, actuation channel 66′ may be disposed on outer surface 64′ and may not be completely surrounded by wall 63′ of link 60′, like stiffening channel 68 of link 60 in FIG. 2A. In other words, actuation channel 66′ may be a recessed U-shaped recess in wall 63′ of link 60′. Actuation channel 66′ may be disposed on and defined by outer surface 64, be open at the sides of link 60′, and not be completely surrounded by wall 63′ of link 60′. This may provide a better line of sight to the actuation channel 66' with respect to the link 60 of FIG. 2A, which may allow the actuation element 12 to be more easily assembled within the link 60'. In some embodiments, the actuation channel 66' may have the same shape and cross-sectional shape as the stiffening channel 68'. In other embodiments, the respective shapes and cross-sectional shapes may be different. For example, as shown in FIG. 2B, the stiffening channel 68' may be smaller than the actuation channel 66'. This may account for the difference in size between the actuation element 12 and the stiffening element 14.

[0020] FIG. 2C illustrates another embodiment of a link 60″ for use in articulation joint 50. Like reference numerals will be used to describe link 60″. Link 60″ is similar to link 60 except as described herein. Notably, stiffening channel 68″ may be completely enclosed within wall 63″ of link 60″, as may actuation channel 66 of link 60″. Thus, in some embodiments, both stiffening channel 68″ and actuation channel 66 may be completely enclosed by wall 63″ and may have different cross-sectional sizes, as shown in FIG. 2C. Lumen 22 may extend through link 60″ and be defined by inner surface 62″. In some embodiments, each actuation channel 66 and each stiffening channel 68″ of link 60″ may be disposed between and completely enclosed by both inner surface 62″ and outer surface 64″.

[0021] 1-3, both the in-plane and out-of-plane stiffness of the articulation joint 50 can be varied by varying the stiffness of the stiffness element 14. Thus, the medical device 10 can be customizable with respect to the stiffness of the articulation joint 50 by selecting the stiffness element 14 without changing other components.

[0022] A method of assembling the medical device 10 may include selecting stiffening elements 14 based on selection criteria, such as a user's stiffness preferences or the procedure for which the medical device 10 is intended to be used. For example, in some embodiments, the assembly method may include collecting stiffness preferences from users of a particular type of medical device or from users performing a particular type of medical procedure. The method may then further include selecting the corresponding stiffening elements 14 and assembling the selected stiffening elements 14 into the medical device 10. In this manner, various medical devices that share an articulation joint design may have articulation joints of various stiffnesses. In embodiments, different types of medical devices may have articulation joints of various stiffnesses, while in other embodiments, the same type of medical device may be available with various articulation joints of different stiffnesses, allowing the user to select a preferred articulation joint stiffness.

[0023] 1-3 , a method of assembling the medical device 10 may include assembling the rigid elements 14 within the stiffening channels 68 of the medical device 10. In particular, in some embodiments, the rigid elements 14 may first be fabricated as wire forms and then inserted or threaded into the stiffening channels 68. The rigid elements 14 may then be rigidly coupled to the links 60. For example, the rigid elements 14 may be brazed, welded, or adhesively bonded to one or more links 60. Alternatively or additionally, the rigid elements 14 may be coupled within the stiffening channels 68 by an interference fit. In some embodiments, the rigid elements 14 may be rigidly coupled in each link 60 and / or each of the stiffening channels 68.

[0024] In other embodiments, the rigid element 14 may not initially be manufactured as a wire, coil, or braid. Instead, a method of assembly of the medical device 10 may include molding the rigid element 14 in place within the stiffening channel 68. In particular, such a method may include inserting a core into the lumen 22 and around the outer surface 64 of the link 60, whereby a fluid material (e.g., a molten metal or a non-metallic material such as a plastic or uncured resin) may flow through the stiffening channel 68 and cure or solidify in place.

[0025] 1-3 , a method of operating the medical device 10 may include inserting the medical device 10 into a patient. The method may then include actuating / bending the articulation joint 50, thereby moving the tip 30 to reach or view a space within the patient. More specifically, the method may include tightening and / or loosening the actuation elements 12 to actuate the articulation joint 50. For example, one of the actuation elements 12 may be tightened or pulled tight on the second side 24b, while a second of the actuation elements 12 may be loosened on the fourth side 24d opposite the second side 24b. This may cause the articulation joint 50 to bend toward the second side 24b. Because the articulation joint 50 has two actuation elements 12, the articulation joint 50 may be movable in two directions, toward the first side 24a and toward the third side 24c. These two directions are in the same plane.

[0026] 4A and 4B, one embodiment of an articulation joint 150 for medical device 110 is shown schematically. Articulation joint 150 may be substantially similar to articulation joint 50. Accordingly, like numbers are used to reference like features, with the addition of "100." For example, articulation joint 150 may include links 160, and each link of link 160 may have an inner surface 162, an outer surface 164, and a wall 163 therebetween.

[0027] Each of the links 160 may define an actuation channel 166 through which the actuation element 12 may extend. The wall 163 of each of the links 160 may define four protrusions 165 extending radially inward into the channel / lumen 22. Each protrusion 165 includes and completely surrounds an actuation channel 166 through which the actuation element 12 may extend. In some embodiments, each of the links 160 may have four actuation channels 166 spaced 90 degrees apart from one another as shown. However, other embodiments may have other numbers of actuation channels, such as one channel, two channels, or three channels.

[0028] The articulation joint 150 may have four actuation elements 12 extending through the actuation channel 166. Thus, the articulation joint 150 may be movable / bendable in four directions, e.g., toward the first side 24a, toward the second side 24b, toward the third side 24c, and toward the fourth side 24d. Thus, the articulation joint 150 has four-way bending in two transverse planes, while other embodiments described herein are limited to two-way bending in one plane. As will be appreciated by those skilled in the articulation joint 150, a medical device having the articulation joint 150 may include a second actuation device (similar to actuation device 42 shown in FIG. 1 ) to control the movement of the third and fourth actuation elements 12.

[0029] 4A and 4B , each link 160 may define stiffening channels 168 through which the stiffening elements 114 may extend. The stiffening channels 168 may have a concave or enclosed shape and may be disposed in and defined by the outer surface 164. More specifically, each stiffening channel 168 may have a concave shape with a generally rectangular cross-sectional shape, as shown. Each stiffening channel 168 may be open at a side of the link 160 and may not be completely enclosed by the wall 163 of the link 160. In some embodiments, each link 160 may have four stiffening channels 168. Each stiffening channel 168 is located radially outward of a corresponding actuation channel 166. The stiffening channels 168 may be evenly distributed around the outer surface 164. For example, in an embodiment including four stiffening channels 168, the stiffening channels 168 may be spaced approximately 90 degrees apart. Other numbers and locations of stiffening channels are contemplated and possible.

[0030] The articulation joint 150 may include multiple rigid elements 114. Each rigid element 114 may couple one of the links 160 to an adjacent link or to another link of the multiple links. In particular, in some embodiments, at least one rigid element 114 may couple a particular link 160 only to a proximal adjacent link 160, and at least another rigid element 114 may couple a particular link 160 only to a distal adjacent link 160.

[0031] In some embodiments, each link 160 may be coupled to four rigid elements 114. In such embodiments, two proximal rigid elements 114a may couple a particular link 160 to a proximal adjacent link 160, and two distal rigid elements 114b may couple a particular link 160 to a distal adjacent link 160. The two proximal rigid elements 114a may be positioned opposite each other, i.e., approximately 180 degrees from each other. Similarly, the two distal rigid elements 114b may be positioned opposite each other and 90 degrees from the proximal rigid element 114a. As shown, the rigid elements 114 may be discontinuously or spaced apart between the distal end 52 and the proximal end 54.

[0032] Gaps 170 may be disposed between the links 160. Each gap 170 may vary in length between axially opposed points on adjacent links 160, specifically between opposed edges of the outer surfaces 164 of those adjacent links 160. Around the circumference of adjacent links 160, the gap 170 may be narrowest at the location of the rigid elements 114 and widest between the rigid elements 114, e.g., at a midpoint between the rigid elements 114, e.g., 90 degrees from the rigid elements 114. As described above, the two distal rigid elements 114b may be disposed opposite each other and 90 degrees from the proximal rigid element 114a. Thus, the widest portion of the gap 170 at the distal end of a particular link 160 may be disposed opposite each other and 90 degrees from the widest portion of the gap 170 at the proximal end of the link 160. This arrangement of rigid elements and gaps allows the articulation joint 150 to bend in four directions, including toward the location of the rigid elements 114.

[0033] 5A-5C, one embodiment of an articulation joint 250 for a medical device is schematically illustrated. The articulation joint 250 may be substantially similar to the articulation joints 50 and 150. Accordingly, like numbers are used to reference like features, with the addition of "100." The articulation joint 250 may include a plurality of links 260, each of which may have an outer surface 264, a first inner surface 262a, a second inner surface 262b, and a wall 263 having a front (distal) surface 261a and a rear (proximal) surface 261b. A first lumen 222a and a second lumen 222b may extend through each of the links 260. The first lumen 222a may be defined by the first inner surface 262a, and the second lumen 222b may be defined by the second inner surface 262b. Wall 272 separates first lumen 222a from second lumen 222b. First lumen 222a may be a working channel for accommodating tools or other devices inserted through port 44, and second lumen 222b may accommodate wires / cables for delivering power to distal tip 30 and / or transmitting / receiving imaging signals / data to / from distal tip 30.

[0034] Each of the links 260 may define a protrusion 265 extending radially inward toward the lumen 222a. In other embodiments, the protrusions 265 may extend radially inward toward the lumen 222b. Each protrusion 265 includes and completely surrounds an actuation channel 266 through which an actuation element 12 may extend. In some embodiments, each link 260 may have two actuation channels 266 located opposite each other. In other words, the actuation channels 266 may be spaced approximately 180 degrees apart around the wall 263.

[0035] Each link 260 may define a stiffening channel 268 through which the stiffening element 214 may extend. The stiffening channel 268 may have a concave shape and may extend axially into the wall 263 of the link 260 from the front surface 261 a and the rear surface 261 b. The stiffening channel 268 may extend across the entire radial thickness of the wall 263 of the link 260, i.e., from the outer surface 264 to the first inner surface 262 a and / or the second inner surface 262 b. As shown, in some embodiments, each link 260 may have two stiffening channels 268 on the front surface 261 a and two stiffening channels on the rear surface 261 b. The first stiffening channel 268 a may extend from the outer surface 264 to the first inner surface 262 a, and the second stiffening channel 268 b may extend from the outer surface 264 to the second inner surface 262 b. In some embodiments, the first stiffening channel 268a may be positioned opposite the second stiffening channel 268b. In other words, the stiffening channels 268a, 268b may be spaced approximately 180 degrees apart around the exterior surface 264. Two similar stiffening channels 268 are located on the rear surface 261b and are axially aligned with the stiffening channels 268a, 268b (see stiffening channel 268c in FIG. 5A and another stiffening channel not shown in FIG. 5A because it is obstructed by the structure of the link 260). The stiffening channels 268 may have a substantially rectangular cross-sectional shape, as shown.

[0036] 5B and 5C. Each stiffening element 214 has a rectangular cross-section (along both an axially oriented plane and a width / radially oriented plane transverse to the axial plane). Each stiffening element 214 connects two adjacent links 260. Each stiffening element 214 may be adhered to its corresponding stiffening channel 268 via any suitable method, including those mentioned in connection with the above embodiments.

[0037] Gaps 270 may be disposed between the links 260. The gaps 270 may have the same or similar shape and configuration as the gaps 170 of Figures 4A and 4B. The gaps 270 may be narrowest at the rigid elements 214 and widest along the circumference of the links 260 between the rigid elements 214. This configuration may allow the articulation joint 250 to bend in two directions.

[0038] 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 number, configuration, shape, and / or spacing of the working and / or stiffening channels may be varied to suit any medical device. It will be understood that the links and their corresponding stiffening and working channels and stiffening elements are not limited to the examples set forth 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 having a proximal end and a distal end; a plurality of links, each link of the plurality of links configured to articulate relative to an adjacent link of the plurality of links; one or more actuation wires, each extending through an actuation channel in each link of the plurality of links, fixedly attached proximate the distal end of the articulation joint, and translatable relative to the plurality of links to articulate the articulation joint; at least one stiffening element extending through a stiffening channel in each link of the plurality of links, the at least one stiffening element having a proximal end fixedly attached to one link of the plurality of links and a distal end fixedly attached to another link of the plurality of links; An articulated joint comprising:

2. 2. The articulation joint of claim 1, wherein each link of the plurality of links includes a wall having a radially inner surface and a radially outer surface, and each stiffening channel is defined by the radially outer surface of a corresponding link and is open at a side of the corresponding link.

3. 3. The articulation joint of claim 2, wherein each link of the plurality of links includes a wall having a radially inner surface and a radially outer surface, and each actuation channel is defined by the radially outer surface of a corresponding link and opens at a side of the corresponding link.

4. An articulation joint according to any one of claims 1 to 3, wherein the stiffening channel has a concave shape.

5. An articulation joint according to claim 2 or claim 3, wherein the stiffening channel is surrounded by a wall of the corresponding link.

6. An articulation joint according to any one of claims 1 to 5, wherein the working channel has an enclosed shape.

7. An articulation joint according to any preceding claim, wherein the stiffening channel has a rectangular cross-sectional shape.

8. An articulation joint according to any one of claims 1 to 7, wherein the at least one stiffening element comprises a first stiffening element and a second stiffening element arranged opposite the first stiffening element.

9. 9. The articulation joint according to claim 1, wherein the plurality of links includes a particular link, a proximal link, and a distal link, and the at least one stiffening element includes two proximal stiffening elements connecting the particular link to the proximal link and two distal stiffening elements connecting the particular link to the distal link.

10. 10. The articulation joint of claim 9, wherein the two proximal stiffening elements are disposed opposite each other and at 90 degrees relative to each of the two distal stiffening elements.

11. An articulation joint according to any one of the preceding claims, wherein at least one stiffening element is continuous from said proximal end to said distal end.

12. An articulation joint according to any preceding claim, wherein the one or more actuation wires comprise two or four actuation wires.

13. An articulation joint according to any one of claims 1 to 12, further comprising a gap disposed between each link of the plurality of links, said gap being narrowest at the location of said at least one stiffening element.

14. An articulation joint according to any preceding claim, wherein the articulation joint further comprises a second stiffening element.

15. 15. The articulation joint of any one of claims 1 to 14, wherein each link of the plurality of links includes a wall having a radially inner surface and a radially outer surface, and each stiffening channel is located in the radially outer surface of a corresponding link.

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