Leeds player Willstrop in British final
Leading by two games, the 27-year-old world No 6 suffered a dead leg after an accidental collision with the Frenchman, ranked one place higher.
After a seven-minute injury break, Willstrop returned to the court and recovered from 5-1 down to lead 9-7 – two points away from a straight games victory.
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Hide AdBut the determined Gaultier fought back to take the game and then won the fourth to force a decider.
The world No 5 twice led and also had an injury break for four minutes after treatment for an ankle injury. But Willstrop held his nerve to clinch a remarkable 11-7 11-9 9-11 5-11 11-9 win after 101 minutes.
"When both of us are playing at the highest of intensities – which both of us were today – you can't keep it going for five games," said Willstrop.