Abstract: An anatomically correct endoluminal prosthesis is provided for placement in a lumen or vessel of a body. In a preferred embodiment, the prosthesis is a stent having at least one segment of curvature located along the body of the stent. The stent may have segments of curvature, apertures, tapers, flares, beveling, non-circular cross-sections, coverings or branching. Preferably, the stent has orientation markers and lines to allow for in vivo identification and orientation by conventional imaging formats. The stent may have multiple segments of curvature in succession or overlapping and may have segments of curvature lying in different planes of curvature. A method of forming the prosthesis is provided.