An endoscopic device for approximating tissue includes an elongated body having a plurality of articulatable segments and a steerable distal portion. The device includes a first tissue approximation component positioned at a first axial position of the body. The first component is configured to move in a radial direction relative to the elongated body between a first position and a second position and be placed in an actuated state in which it is configured to grip tissue. The device includes a second tissue approximation component positioned at a second axial position of the body. The second component is configured to move in a radial direction relative to the elongated body between a first position and a second position and be placed in an actuated state in which it is configured to grip tissue. The components are configured to translate toward one another along a longitudinal direction of the elongated body.