You can try this setup:
A simple Shoulder-UpperArm-ForeArm-Hand IK chain, limited to two bones (UpperArm and Forearm, not extending to shoulder), of course hand is not child of forearm.
Add a Rotor bone, child of shoulder.
Add a bone going from shoulder to hand, child of rotor, add a stretch to constraint (target: hand).
Add a pole bone, child of "Stretch to hand" bone, set it as pole of the IK and trim the pole angle as needed.
Now rotating the rotor bone in one single axis (lock the other 2 in Euler mode) will make the elbow rotate as expected.
