Articulating suturing device

1 . A method for closing an opening extending through a tissue wall, the method comprising:

inserting a distal end of a tissue locator through the opening, the tissue locator comprising a shaft formed with a first arm and a second arm, each of the first arm and the second arm comprising a first end and a second end and being integrally formed with the shaft and resiliently bendable at the second end;

advancing an elongate expander from a first position to a second position, wherein a surface of the elongate expander contacts an inner surface at each first end to pivot each first end to extend laterally away from the shaft;

advancing a first penetrator and a second penetrator through the tissue wall, and to end faces of the first and second arms, such that the first and second penetrators respectively couple with a first end and a second end of a filament supported by the first arm and the second arm, each end face comprising an opening configured to receive a tip of one of the first penetrator and the second penetrator; and

withdrawing the first and second penetrators through the tissue wall, thereby causing the first and second ends of the filament to uncouple from the first and second arms.

2 . The method of claim 1 , wherein the first arm is circumferentially adjacent to the second arm.

3 . The method of claim 1 , wherein the first arm is positioned at an antipodal point with respect to the second arm.

4 . The method of claim 1 , wherein second ends of the first and second arms remain aligned along the shaft of the tissue locator in a deployed configuration.

5 . The method of claim 1 , wherein pivoting the first ends of the arms comprises moving the elongate expander axially along the shaft so as to cause a laterally outward force to occur on the first arm and the second arm.

6 . The method of claim 1 , wherein the second end of the filament remains coupled with the second penetrator such that the second end of the filament withdraws proximally through the tissue wall with the second penetrator.

7 . The method recited in claim 1 , wherein the tissue locator further comprises a third arm and a fourth arm, first and second ends of a second filament respectively being removably coupled with the third and fourth arms, and wherein the method further comprises:

pivoting ends of each of the third and fourth arms of the tissue locator to move the ends of the third and fourth arms from a retracted configuration to a deployed configuration in which the ends of the third and fourth arms extend laterally away from the shaft;

advancing a third penetrator and a fourth penetrator through the tissue wall such that the third and fourth penetrators respectively couple with the first and second ends of the second filament; and

withdrawing the third and fourth penetrators through the tissue wall, thereby causing the first and second ends of the second filament to uncouple from the third and fourth arms.

8 . The method of claim 7 , wherein moving the elongate expander axially along the shaft also causes a laterally outward force to occur on the third and fourth arms to pivot the third and fourth arms laterally outward.

9 . The method of claim 7 , wherein each penetrator is advanced at different times from each other.

10 . The method of claim 7 , wherein each penetrator has a separate penetrator actuator associated therewith, and each penetrator is advanced and withdrawn by manually manipulating the associated penetrator actuator.

11 . The method of claim 7 , where the first filament and the second filament cross at a position over the opening in the tissue.

12 . The method of claim 11 , wherein the first filament is attached to the second filament.

13 . The method of claim 11 , wherein the first filament forms a first loop and the second filament forms a second loop, the first loop being connected to the second loop.

14 . The method of claim 7 , wherein the first filament is parallel with the second filament arranged over the opening in the tissue.

15 . The method of claim 14 , further comprising a third filament arranged transverse to the first filament.

16 . The method of claim 7 , wherein the first filament and the second filament form part of a filament net.

17 . A method for closing an opening extending through a tissue wall, the method comprising:

inserting a distal end of a tissue locator through the opening, the tissue locator comprising a shaft formed with a first arm, a second arm, a third arm, and a fourth arm, each arm comprising a first end and a second end, the second ends being connected to the shaft;

advancing an elongate expander from a first position to a second position such that a surface of the expander contacts inner surfaces at the first ends of each arm to pivot the first ends of the arms to extend laterally away from the shaft;

removably coupling a first filament between the first arm and the second arm and a second filament between the third arm and the fourth arm, wherein each filament comprises a first and second end;

advancing a first and a second penetrator through the tissue wall to respectively couple with the first and second end of the first filament;

advancing a third and fourth penetrator through the tissue wall to respectively couple with the first and second ends of the second filament; and

withdrawing the penetrators through the tissue wall to draw the filaments across the opening,

wherein the first filament and the second filament form part of a filament net, the filament net comprising a hub connected to the first filament and the second filament.

18 . A method for closing an opening extending through a tissue wall, the method comprising:

inserting a distal end of a tissue locator through the opening, the tissue locator comprising a shaft formed with a first arm, a second arm, a third arm, and a fourth arm, each arm comprising a first end and a second end, the second ends being connected to the shaft;

advancing an elongate expander from a first position to a second position such that a surface of the expander contacts inner surfaces at the first ends of each arm to pivot the first ends of the arms to extend laterally away from the shaft;

removably coupling a first filament between the first arm and the second arm and a second filament between the third arm and the fourth arm, wherein each filament comprises a first and second end;

advancing a first and a second penetrator through the tissue wall to respectively couple with the first and second end of the first filament;

advancing a third and fourth penetrator through the tissue wall to respectively couple with the first and second ends of the second filament; and

withdrawing the penetrators through the tissue wall to draw the filaments across the opening,

wherein the first filament and the second filament form part of a filament net, the filament net comprising a ring with the first filament and the second filament extending through the ring.

19 . The method of claim 18 , wherein the first filament and the second filament cross at a position over the tissue.

20 . The method of claim 18 , wherein the first arm and the second arm are circumferentially adjacent and the third arm and the fourth arm are circumferentially adjacent, wherein the first filament and the second filament extend through the ring without crossing.