You just need to calculate the coordinates of a suitable point on the circumference of the circle.
I've simplified here and just moved the start and end points in (on the X axis) by the circle radius. If you want it to start and end at a different point on the circle(s), then you'll need to invoke a little simple geometry. But this example should at least give you a head start.
The arrowhead marker I've used is configured to point at the end point of the line (as opposed to starting at the end of it).
function arc_links(dwg,x1,y1,x2,y2,k) {
var cx = (x1+x2)/2;
var cy = (y1+y2)/2;
var dx = (x2-x1)/2;
var dy = (y2-y1)/2;
dd = Math.sqrt(dx*dx+dy*dy);
ex = cx + dy/dd * k;
ey = cy - dx/dd * k;
var path = dwg.path("M"+x1+" "+y1+"Q"+ex+" "+ey+" "+x2+" "+y2).stroke({width:1}).fill('none')
.marker('end', SVG.select('#arrowhead').first());
}
function create_svg() {
var draw = SVG.select('#drawing').first();
draw.circle(50).move(25,25).fill('#fff').stroke({width:1});
draw.circle(50).move(225,25).fill('#fff').stroke({width:1});
arc_links(draw,75,50,225,50,40);
}
create_svg();
<script src="https://cdnjs.cloudflare.com/ajax/libs/svg.js/2.3.2/svg.min.js"></script>
<svg id="drawing" width="300" height="300">
<defs>
<marker id="arrowhead" markerUnits="userSpaceOnUse" markerWidth="10" markerHeight="10"
refX="10" refY="0" viewBox="0 -5 10 10" orient="auto">
<path d="M0 -5L10 0L0 5 Z"></path>
</marker>
</defs>
</svg>