Patent Description:
Articulation arms are known in the art and are generally employed for controlling the direction in which a tool or object are pointing. Also known in the art is employing articulation arms when performing various medical procedures, to control the tool or tools attached to the articulation arm. Articulation arms are typically composed of links, which are rotatable one with respect to the other and are typically controlled by controlling the tension of cables passing through the links.

<CIT> entitled "Robotically Controlled Medical Instrument with Flexible Section", is directed to a flexible articulation arm which includes a plurality of ribs. The ribs are connected therebetween by ridges. The ridges are arranged at <NUM> degrees to each other. Cables pass through holes in the ridges.

<CIT>, entitled "System for Managing Bowden Cables in Articulating Instruments", is directed to a vertebrae-type control ring having two pairs of joints or hinges. The first pair projects perpendicularly from a first face of the vertebra. The second pair, located <NUM> degrees from the first pair, projects perpendicularly away from an opposite face of the vertebra. Four holes pass through the edge of vertebra-type control ring that may act as attachment sites or a throughway for cables.

<CIT>entitled "Robotic Linkage", is directed to a method for articulating links for assembling an elongated instrument. The method includes the steps of articulating a first link and a second link relative to each other about a pair of outer hinge portions on a first end of a first link and in mating engagement with a pair of inner hinge portions on a second end of a second link. Each outer hinge portion includes an outer ear extending in a first axial direction away from the first end of the first link and an inner bearing surface substantially oriented in the first axial direction. Each inner hinge portion includes an inner ear extending in a second axial direction away from the second end of the second link and an outer bearing surface positioned and oriented in the second axial direction. During articulation, the outer bearing surfaces support the outer ears and the inner bearing surfaces support the inner ears.

It is an object of the disclosed technique to provide a novel link for an articulation arm. In accordance with the disclosed technique, there is thus provided a link for an articulation arm, which includes a vertebra, two outer bearing portions, two inner bearing portions and four control bore holes. The vertebra has a first base and a second base. The two outer bearing portions are formed on the first base and are located on a radial line of the first base. The two inner bearing portions are formed on the second base and are located on a radial line of the second base. The two of the four control bore holes enter the second base and exit a respective one of the outer bearing portions. The other two of the control bore holes enter the first base and exit a respective one of the inner bearing portions.

In accordance with another aspect of the disclosed technique, there is thus provided an articulation arm including a plurality of links. Each link includes a vertebra, two outer bearing portions, two inner bearing portions and four control bore holes. The vertebra has a first base and a second base. The two outer bearing portions are formed on the first base and are located on a radial line of the first base. The two inner bearing portions are formed on the second base and are located on a radial line of the second base. The two of the four control bore holes enter the second base and exit a respective one of the outer bearing portions. The other two of the control bore holes enter the first base and exit a respective one of the inner bearing portions. The outer bearing portions of one link are inserted into the inner bearing portions of an adjacent link, creating a bearing such that two adjacent links can rotate one with respect to the other.

The disclosed technique overcomes the disadvantages of the prior art by providing a novel link for an articulation arm. The link includes a cylindrical vertebra, two outer bearing portions, and two inner bearing portions. The cylindrical vertebra includes a first base and a second base. The two outer bearing portions are formed on a radial line (i.e., a line which intersects the axis of the cylinder and is also perpendicular to the axis of the cylinder) on the first base. The two inner bearing portions, formed on a radial line on the second base. The link includes four control bore holes for control cables or wires to pass there through referred to herein as 'control bore holes'. Control cable or wires are employed for controlling the curvature the articulation arm and consequently the direction to which the distal end of the articulation arm, points. According to the disclosed technique, two of the control bore holes enter the second base and exit a respective one of the outer bearing portions. The other two of the control bore holes enter the first base and exit a respective one of the inner bearing portions. Consequently, the area available for utility bore holes increases. Herein, 'utility bore holes' refer to bore holes through which cable or wires employed for operating a device pass. The device is located at the distal end of the articulation arm. The cables operating the device are for example, electric cable operative to provide electric power to the device or for transmitting a signal or signals to or from the device. The utility cables may also be optic cables operating to deliver light to or from the device.

Reference is now made to <FIG>, which are schematic illustrations of a link for an articulation arm, generally referenced <NUM>, constructed and operative in accordance with an embodiment of the disclosed technique. Link <NUM> includes a cylindrical vertebra <NUM> which includes two bases, a first base <NUM> and a second base <NUM>. Two outer bearing portions 102A and 102B are formed on first base <NUM> and are located on a radial line <NUM> of first base <NUM>. In <FIG>, two outer bearing portions 102A and 102B are two axial shoulders 102A and 102B protruding from one base of the cylinder. Two inner bearing portions 104A and 104B are formed in second base <NUM> and are located on a radial line <NUM> of second base <NUM>. Radial line <NUM> is perpendicular to radial line <NUM>. In <FIG>, two inner bearing portions 104A and 104B are two axial recesses 104A and 104B. Link <NUM> further includes and a central bore <NUM>. Each of axial shoulders 102A and 102B includes a respective ledge 113A and 113B. Each of axial recesses 104A and 104B includes a respective ledge 115A and 115B.

Link <NUM> includes four control bore holes 106A, 106B, 108A and 108B. Two of the control bore holes 106A and 106B enter second base <NUM> and exit a respective one of the outer bearing portions 102A and 102B. The other two of the control bore holes 108A and 108B enter first base <NUM> and exit a respective one of the inner bearing portions 104A and 104B. Each of control bore holes 106A, 106B, 108A and 108B widens at the exits thereof to enable rotational motion of the link <NUM> when a control cable passes through control bore holes 106A, 106B, 108A and 108B Link <NUM> further include at least one utility bore hole. In Figures 1A-1F, four utility bore holes <NUM><NUM>, <NUM><NUM>, <NUM><NUM> and <NUM><NUM> are depicted as an example. Utility bore holes <NUM><NUM>, <NUM><NUM>, <NUM><NUM> and <NUM><NUM> pass through link <NUM> in the longitudinal direction <NUM> thereof.

Two links connect with each other by connecting the outer bearing portions of one link with the inner bearing portions of another link. Two links such as link <NUM> connect inserting the axial shoulders of one link to the axial recesses of the other link, thereby creating a bearing about which the two links rotate one with respect to the other. The ledges of the axial shoulders, such as ledges 113A, 113B are aligned with ledges 115A and 115B of the axial recesses, thereby preventing the two links from moving one with respect to the other in either one of the lateral directions <NUM> and <NUM>. As mentioned above when the control bore holes pass through the bearings of the links, the area available for utility bore holes increases. Reference is now made to <FIG>, which is a schematic illustration of an exemplary articulation arm, generally referenced <NUM>, constructed and operative in accordance with another embodiment of the disclosed technique. Articulation arm <NUM> includes four links <NUM><NUM>, <NUM><NUM>, <NUM><NUM> and <NUM><NUM>. Each one of links <NUM><NUM>, <NUM><NUM>, <NUM><NUM> and <NUM><NUM> is similar to link <NUM> (Figures 1A-1F). As depicted in <FIG>, the axial shoulders of link <NUM><NUM> are inserted into the axial recess of link <NUM><NUM> creating a bearing between link <NUM><NUM> and link <NUM><NUM> such that link <NUM><NUM> and link <NUM><NUM> rotate one with respect to the other. Similarly, the axial shoulders of link <NUM><NUM> are inserted into the axial recess of link <NUM><NUM> creating a bearing between link <NUM><NUM> and link <NUM><NUM> such that link <NUM><NUM> and link <NUM><NUM> rotate one with respect to the other. Also, the axial shoulders of link <NUM><NUM> are inserted into the axial recess of link <NUM><NUM> creating a bearing between link <NUM><NUM> and link <NUM><NUM> such that link <NUM><NUM> and link <NUM><NUM> rotate one with respect to the other. Since, the axial shoulders and the axial recesses are located on perpendicular radial lines, the axis of rotation between link <NUM><NUM> and link <NUM><NUM> is perpendicular to the axis of rotation between link <NUM><NUM> and link <NUM><NUM>. Similarly, the axis of rotation between link <NUM><NUM> and link <NUM><NUM> is perpendicular to the axis of rotation between link <NUM><NUM> and link <NUM><NUM>. In general, two adjacent axis of rotations, between pair of links, are perpendicular one with respect to the other.

Reference is now made to <FIG>. <FIG>, are schematic illustrations of a link for an articulation arm, generally referenced <NUM>, and <FIG> and <FIG> are schematic illustration of pin, generally referenced <NUM> for connecting two links, both constructed and operative in accordance with a further embodiment of the disclosed technique. Link <NUM> includes a cylindrical vertebra <NUM>, which includes two bases, a first base <NUM> and a second base <NUM>. Two outer bearing portions 202A and 202B are formed on a radial line <NUM> of first base <NUM>. In <FIG>, two outer bearing portions 202A and 202B are two outer axial shoulders 202A and 202B protruding from first base <NUM> of the cylinder. Two inner bearing portions 204A and 204B are formed on a radial line <NUM> of second base <NUM>. Radial line <NUM> is perpendicular to radial line <NUM>. In <FIG>, two inner bearing portions 204A and 204B are two inner axial shoulders 204A and 204B protruding from second base <NUM>.

Link <NUM> includes four control bore holes 210A, 210B, 212A and 212B. Two of the control bore holes 210A and 210B enter second base <NUM> and exit a respective one of the outer bearing portions 202A and 202B. The other two of the control bore holes 212A and 212B enter first base <NUM> and exit a respective one of the inner bearing portions 204A and 204B.

Each one outer bearing portion 202A and 202B includes a respective pin hole 206A and 206B. Similarly each one of inner bearing portion 204A and 204B incudes a respective pin hole pin hole 208A and 208B. When two links are connected together, the pin holes of the outer axial shoulders of one link are aligned with the pin hole of the inner axial shoulders of the other link and connecting pins, such as connecting pin <NUM>, are inserted through the aligned pin holes, thereby creating a bearing between two adjacent links such that the two adjacent links rotate one with respect to the other. For any three connected links, since axial outer shoulders and the axial inner shoulder are located on perpendicular radial lines, the axis of rotation between the first link and the second link is perpendicular to the axis of rotation between the second link and the third link. Also, connecting pin <NUM> includes a control bore hole <NUM>. The connecting pin is inserted into the pin holes such that the control bore hole of the connecting pin is aligned with the control bore holes of the two links. Thus, the control bore holes pass through the bearings of the links. As mentioned above when the control bore holes pass through the bearings of the links, the area available for utility bore holes increases.

Reference is now made to <FIG>, which are schematic illustrations of a link for an articulation arm, generally referenced <NUM>, constructed and operative in accordance with another embodiment of the disclosed technique. Link <NUM> includes a cylindrical vertebra <NUM> which includes two bases, a first base <NUM> and a second base <NUM>. Two outer bearing portions 252A and 252B are formed on first base <NUM> and are located on a radial line <NUM> of first base <NUM>. In <FIG>, two outer bearing portions 252A and 252B are two axial shoulders 252A and 252B protruding from one base of the cylinder. Two inner bearing portions 254A and 254B are formed in second base <NUM> and are located on a radial line <NUM> of second base <NUM>. Radial line <NUM> is perpendicular to radial line <NUM>. In <FIG>, two inner bearing portions 254A and 254B are two axial recesses 254A and 254B. Link <NUM> further includes and a central bore <NUM>. Each of axial shoulders 252A and 252B includes a respective ledge 263A and 263B. Each of axial recesses 254A and 254B includes a respective ledge 265A and 265B. In link <NUM>, the ledges 263A, 263B are located on the opposite side of the respective axial shoulder 252A and 252B, relative to ledges 113A and 113B of axial shoulders 102A and 102B of link <NUM> (<FIG>). Similarly ledges 265A and 265B are located on the opposite side of the respective axial recesses 254A and 254B, relative to ledges 115A and 115B of axial recesses 104A and 104B of link <NUM> (<FIG>).

Link <NUM> includes four control bore holes 256A, 256B, 258A and 258B. Two of the control bore holes 256A and 256B enter second base <NUM> and exit a respective one of the outer bearing portions 252A and 252B. The other two of the control bore holes 258A and 258B enter first base <NUM> and exit a respective one of the inner bearing portions 254A and 254B. Each of control bore holes 256A, 256B, 258A and 258B widens at the exits thereof to enable rotational motion of the link <NUM> when a control cable passes through control bore holes 256A, 256B, 258A and 258B. Link <NUM> may further include at least one utility bore holes similar to as described above.

Two links such as link <NUM> connect inserting the axial shoulders of one link to the axial recesses of the other link, thereby creating a bearing about which the two links rotate one with respect to the other. The ledges of the axial shoulders, such as ledges 253A and 253B are aligned with ledges 255A and 255B of the axial recesses, thereby preventing the two links from moving one with respect to the other in either one of the lateral directions <NUM> and <NUM>.

Claim 1:
A link (<NUM>) for an articulation arm (<NUM>), comprising:
a vertebra (<NUM>), having a first base (<NUM>) and a second base (<NUM>);
two outer axial shoulders (202A,202B), formed on said first base and located on a radial line (<NUM>) of said first base and protruding from said first base, each of said two outer axial shoulders including a respective pin hole (206A,206B);
two inner axial shoulders (204A,204B), formed on said second base and located on a radial line (<NUM>) of said second base and protruding from said second base, each of said two inner axial shoulders including a respective pin hole (208A,208B);
four control bore holes (210A,210B,212A,212B), two (210A,210B) of said four control bore holes entering said second base and exiting a respective one of said outer axial shoulders and the other two (212A,212B) of said control bore holes entering said first base and exiting a respective one of said inner axial shoulders; and
two pins (<NUM>), wherein pin holes respective of said two outer axial shoulders are operable to be aligned with pin holes respective of two inner axial shoulders of another link and with respective pins, thereby enabling each of said pins to be inserted through two respective aligned pin holes, thereby creating a bearing between two adjacent links such that said two adjacent links rotate one with respect to the other,
characterized in that each of said pins comprises a respective pin control bore hole (<NUM>), and
wherein said respective pin control bore hole of each said pins is aligned with a respective two control bore holes of each of said link and said another link.