Patent ID: 8430893

Claim:
A method for suturing an opening in tissue, the method comprising: inserting a distal end of a device through an opening; articulating an elongate foot of the device so that first and second ends of the foot extend laterally with the opening aligned therebetween; supporting a link by the first and second ends of the foot; forming a first penetrator path from the device through the tissue and to the first end of the foot; forming a second penetrator path from the device though the tissue and to the second end of the foot; advancing a first end of a flexible filament along the first penetrator path and along at least a portion of at least one friction reducing structure to attach to the link, the at least one friction reducing structure comprising at least one recessed portion and at least one raised portion; advancing an elongate body along the second penetrator path to attach to the link; coupling the first end of the flexible filament and the elongate body via the link; retracting the elongate body along the second penetrator path, thereby drawing the link and the first end of the flexible filament through the second penetrator path to form a loop across the opening.