Patent ID: 8709037

Claim:
A medical instrument comprising: a proximal control handle; distal work member; a proximal movable member controlled from said proximal control handle; a distal movable member controlled from said proximal movable member to provide controlled movement of said distal work member from said proximal control handle; an instrument shaft that intercouples said proximal and distal movable members; and actuation means coupled between said movable members; said proximal movable member comprising a ball and socket assembly supported between said handle and instrument shaft and constructed and arranged for three dimensional motion; wherein said ball and socket assembly includes a ball supported from said instrument shaft, a socket defined in said handle and an anchor ring rotatably supported at said handle; wherein said actuation means comprises a plurality of cables that are supported at proximal ends by said anchor ring; including a rotation control member and a piston assembly that couples between said handle and rotation control member; wherein said piston assembly further includes pistons, a ring on said rotation control member, links that pivotally connect between said ring and pistons and a locking knob for holding a position of said pistons.