A knot tying system is presented containing a feeding mechanism, a knot tying device, and a clamp. The feeding mechanism has a drive roller and an idle roller capable of guiding a wire. A truck is connected to the end of the wire, and fed into a guide track, fixed relative to the feeding mechanism. The guide track provides a curved track in the shape of a knot desired. The track has a tube having a wire extraction slot running along the length of the tube, an intersection region where an outer portion of the guide track intersects an inner portion of the guide track, and a slit through the inner portion of the guide track substantially at the intersection region. A sensing and control system may also be present.