This paper proposes to move beyond the confusion in semantics seemingly inherent in the expression “autonomy”, which is prevalent in contemporary bio-ethics research. First, a presentation is made of the historical philosophical roots of the concept. Next, the concept is historically recontextualized in the medical literature as well in contemporary debates, in order to highlight and critique its normative value. Finally, an analysis is proposed of the links that could be established between the principle of autonomy and caring for the sick and dying as well as current medical practice.