Devices, systems, and methods for suturing of body lumens allow the suturing of vascular puncture sites located at the distal end of a percutaneous tissue tract. An elongated articulated foot is inserted through a penetration and actuated extend the foot carrying suturing attachment cuffs. Needles are...http://www.google.co.uk/patents/US7846170?utm_source=gb-gplus-sharePatent US7846170 - Articulating suturing device and method
