The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion...http://www.google.co.uk/patents/US7615067?utm_source=gb-gplus-sharePatent US7615067 - Surgical instrument
