A surgical instrument includes a body, an input feature, an elongate shaft, and a needle applier. The needle applier is coupled to the elongate shaft, which extends distally from the body. The needle applier includes a needle, a drive assembly, and a guide assembly. The drive assembly includes a link configured to drive the needle orbitally about a rotation axis that is transverse to the longitudinal axis of the shaft in response to actuation of the input feature. The guide assembly is in communication with the input feature and the drive assembly. The guide assembly is responsive to the input feature to guide a distal portion of the link along a semi-circular path.