A device for closing an opening in tissue includes a shaft having a proximal end, a distal end, and at least one pin associated with a distal end the shaft. A flexible guidebody extends from the distal end of the shaft, while a foot associated with the device is movable with respect to the shaft through the pin connected to at least one slot of the foot. Another device for closing an opening in tissue includes a shaft having a proximal end and a distal end. A plurality of feet are disposed proximate the distal end of the shaft, the plurality of feet being movable with respect to the shaft. The device further includes a flexible guidebody extending from the distal end of the shaft.