A suturing device for minimally invasive surgery, comprising: a head (66, 160, 254, 476) defining one or more ferrule holders (102, 104, 196, 198, 288, 496) and a tissue bite area (115, 124, 218, 295); a first needle (74, 176, 266, 334, 362, 390, 428, 474) comprising a flywheel portion (87, 183, 288, 336, 364, 392, 430, 486) and one or more curved arms (88, 92, 184, 188, 290, 332, 338A, 338B, 340A, 340B, 366A, 366B, 368A, 368B, 412A, 412B, 432, 456A, 456B, 488) extending from the flywheel portion (87, 183, 288, 336, 364, 392, 430, 486), each of the one or more curved arms (88, 92, 184, 188, 290, 332, 338A, 338B, 340A, 340B, 366A, 366B, 368A, 368B, 412A, 412B, 432, 456A, 456B, 488) comprising a ferrule engaging tip (90, 94), wherein the first needle (74, 176, 266, 334, 362, 390, 428, 474) is pivotably coupled to the head (66, 160, 254, 476); a first actuator (58, 146, 156, 244, 344, 372, 480) coupled to the first needle (74, 176, 266, 334, 362, 390, 428, 474) and configured to rotate it from a retracted position, where the ferrule engaging tip (90, 94) of each of the one or more curved arms (88, 92, 184, 188, 290, 332, 338A, 338B, 340A, 340B, 366A, 366B, 368A, 368B, 412A, 412B, 432, 456A, 456B, 488) starts away from the one or more ferrule holders (102, 104, 196, 198, 288, 496), through the tissue bite area (115, 124, 218, 295), and to an engaged position where the ferrule engaging tip (90, 94) of each of the one or more curved arms (88, 92, 184, 188, 290, 332, 338A, 338B, 340A, 340B, 366A, 366B, 368A, 368B, 412A, 412B, 432, 456A, 456B, 488) is operationally aligned with the one or more ferrule holders (102, 104, 196, 198, 288, 496) characterized in that the mass of the flywheel portion (87, 183, 288, 336, 364, 392, 430, 486) is greater than or equal to the mass of the one or more curved arms (88, 92, 184, 188, 290, 332, 338A, 338B, 340A, 340B, 366A, 366B, 368A, 368B, 412A, 412B, 432, 456A, 456B, 488) of the needle (74, 176, 266, 334, 362, 390, 428, 474). a head (66, 160, 254, 476) defining one or more ferrule holders (102, 104, 196, 198, 288, 496) and a tissue bite area (115, 124, 218, 295); a first needle (74, 176, 266, 334, 362, 390, 428, 474) comprising a flywheel portion (87, 183, 288, 336, 364, 392, 430, 486) and one or more curved arms (88, 92, 184, 188, 290, 332, 338A, 338B, 340A, 340B, 366A, 366B, 368A, 368B, 412A, 412B, 432, 456A, 456B, 488) extending from the flywheel portion (87, 183, 288, 336, 364, 392, 430, 486), each of the one or more curved arms (88, 92, 184, 188, 290, 332, 338A, 338B, 340A, 340B, 366A, 366B, 368A, 368B, 412A, 412B, 432, 456A, 456B, 488) comprising a ferrule engaging tip (90, 94), wherein the first needle (74, 176, 266, 334, 362, 390, 428, 474) is pivotably coupled to the head (66, 160, 254, 476); a first actuator (58, 146, 156, 244, 344, 372, 480) coupled to the first needle (74, 176, 266, 334, 362, 390, 428, 474) and configured to rotate it from a retracted position, where the ferrule engaging tip (90, 94) of each of the one or more curved arms (88, 92, 184, 188, 290, 332, 338A, 338B, 340A, 340B, 366A, 366B, 368A, 368B, 412A, 412B, 432, 456A, 456B, 488) starts away from the one or more ferrule holders (102, 104, 196, 198, 288, 496), through the tissue bite area (115, 124, 218, 295), and to an engaged position where the ferrule engaging tip (90, 94) of each of the one or more curved arms (88, 92, 184, 188, 290, 332, 338A, 338B, 340A, 340B, 366A, 366B, 368A, 368B, 412A, 412B, 432, 456A, 456B, 488) is operationally aligned with the one or more ferrule holders (102, 104, 196, 198, 288, 496) characterized in that the mass of the flywheel portion (87, 183, 288, 336, 364, 392, 430, 486) is greater than or equal to the mass of the one or more curved arms (88, 92, 184, 188, 290, 332, 338A, 338B, 340A, 340B, 366A, 366B, 368A, 368B, 412A, 412B, 432, 456A, 456B, 488) of the needle (74, 176, 266, 334, 362, 390, 428, 474).