Articulating mechanism

Abstract

An articulating mechanism is provided with at least one pair of spherical joints interconnected by a set of tension members. Each joint includes a ball member, a socket member configured to pivotably receive at least a portion of the ball member, and at least one tension member extending through both the ball and socket members parallel to and offset from a central longitudinal axis of the joint.

1 . An articulating mechanism comprising:
 at least one pair of longitudinally spaced apart spherical joints, each joint comprising a convex component and a mating concave component configured to receive at least a portion of the convex component, both components having spherical surfaces adapted to slide relative to one another; and   at least one set of tension members interconnecting one component of one of the joints of a pair to one component of the other joint of the pair such that movement of one of the interconnected components causes corresponding relative movement of the other interconnected component directly through tension member movement, wherein each of the convex and concave components includes a plurality of channels, each channel sized to receive one of the tension members and the channels in at least one of the components having an opening located on the spherical surface of the component, wherein the channels located in mating convex and concave components form pairs of opposing channels, at least one of the pairs of opposing channels cooperating with a common tension member received therein to transmit torque between the mating components.   
     
     
         2 . The articulating mechanism of  claim 1  further comprising at least two of the pairs of longitudinally spaced apart spherical joints, each of the pairs having a discrete set of tension members associated with it. 
     
     
         3 . The articulating mechanism of  claim 2  further comprising an intermediate member such that each pair of joints has one joint on one side of the member and one joint on the other side of the member. 
     
     
         4 . The articulating mechanism of  claim 3  wherein the intermediate member comprises a rigid tube configured for receiving the tension members therethrough. 
     
     
         5 . The articulating mechanism of  claim 2  wherein the convex component of one of the joints is integrally formed as a single part with the concave component of another of the joints. 
     
     
         6 . The articulating mechanism of  claim 2  wherein the convex component of one of the joints is integrally formed as a single part with the convex component of another of the joints. 
     
     
         7 . The articulating mechanism of  claim 2  wherein the concave component of one of the joints is integrally formed as a single part with the concave component of another of the joints. 
     
     
         8 . The articulating mechanism of  claim 1  wherein at least one of the convex members comprises a truncated sphere. 
     
     
         9 . The articulating mechanism of  claim 1  wherein at least one of the convex members comprises a frusto-sphere. 
     
     
         10 . The articulating mechanism of  claim 1  wherein at least one of the channels opens radially outward through a circumferential edge of the component. 
     
     
         11 . The articulating mechanism of  claim 1  wherein each of the convex and concave components comprises a central axial bore therethrough. 
     
     
         12 . The articulating mechanism of  claim 1  wherein at least one mating pair of convex and concave components has exactly 4 tension member channels running through each component. 
     
     
         13 . The articulating mechanism of  claim 1  wherein at least one mating pair of convex and concave components has exactly 8 tension member channels running through each component. 
     
     
         14 . The articulating mechanism of  claim 1  wherein the channels in at least one concave component are radially interconnected to form a cross-pattern. 
     
     
         15 . A spherical joint comprising:
 a ball member;   a socket member configured to pivotably receive at least a portion of the ball member; and   at least one tension member extending through both the ball and socket members parallel to and offset from a central longitudinal axis of the joint.   
     
     
         16 . An articulating mechanism for remote manipulation of a surgical or diagnostic tool comprising: multiple pairs of links, each link of each pair being maintained in a spaced apart relationship relative to the other link of the pair, and multiple sets of tension members, with each set connecting the links of a discrete pair to one another, such that movement of one link of a pair causes corresponding relative movement of the other link of the pair, wherein each link is part of a spherical joint having mating convex and concave surfaces, and wherein the tension members extend through channels in the mating surfaces. 
     
     
         17 . The articulating mechanism of  claim 16  wherein the links form proximal and distal ends with links of corresponding pairs being located adjacent to the proximal and distal ends respectively and where movement of the proximal end results in corresponding relative movement of the distal end. 
     
     
         18 . The articulating mechanism of  claim 17  further comprising a handle located at the proximal end and a grasper at the distal end.