Delivery and retrieval system for medical devices

Abstract

A medical system configured to apply a torque to a medical device within a patient. The medical system includes a driver including a driver body supporting a head section. The medical system includes a snare configured to engage a medical device. In an example, the head section defines a protrusion configured to be inserted into a device recess or device slot of an implantable medical device to transfer torque to the medical device. In an example, a snare surface of the snare is configured to engage a medical device to transfer torque to the medical device. In an example, the medical device includes an attachment member configured to engage or disengage tissue when the medical device is rotated. The medical system may include a delivery catheter configured to deliver and / or retrieve a head section, an intermediate member, and a medical device.

Description

Technical Field

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 365,669, filed on June 1, 2022, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to systems for delivering and / or retrieving implantable medical devices. Background Art

[0004] Various types of implantable medical devices have been implanted for treating or monitoring one or more conditions in a patient. Such implantable medical devices may be adapted to allow the medical device to monitor and / or treat conditions or functions associated with the heart, muscles, nerves, brain, stomach, endocrine organs, or other organs and their associated functions. Implantable medical devices may be implanted at target locations that are selected to detect a patient's physiological condition and / or deliver one or more treatments. For example, an implantable medical device may be delivered to a location within the atria or ventricles of the heart to sense intrinsic cardiac signals and deliver pacing or anti-tachyarrhythmic shock therapy.

[0005] Some implantable medical devices are sized to be fully implanted in a chamber of the heart and / or another anatomical volume of the patient to detect physiological conditions and / or deliver one or more treatments. Such implantable medical devices can utilize a delivery and / or retrieval system to allow a clinician to navigate the implantable medical device (e.g., through the patient's vascular system) to a target location, and / or retrieve the implantable medical device from the patient's body. In some examples, the implantable medical device may include one or more anchoring components that are intended to engage tissue at the target location (e.g., for implantation) and / or detach from tissue at the target location (e.g., for retrieval). Summary of the invention

[0006] The present disclosure describes a medical system configured to deliver, position, retrieve, and / or otherwise reorient an implantable medical device ("IMD") within an anatomical volume (e.g., a chamber of the heart) within a patient. The medical system includes a driver comprising a driver body and a head segment substantially supported at a distal end of the driver body. The driver is configured to engage (e.g., contact) the head segment and the IMD (e.g., a retrieval structure of the IMD). The medical system also includes a snare configured to translate through a lumen defined by the driver to engage the IMD and apply a force thereto. In an example, the snare is configured to apply a force to the IMD when a snare loop of the snare is substantially contracted around the IMD and a proximal force is applied to a distal portion of the snare (e.g., when tension is applied to the snare). The snare is configured to cause the head segment to apply a contact force to the IMD when the head segment engages the IMD and the snare applies the force.

[0007] The head segment defines a protrusion that is configured to be inserted into a device recess or device slot defined by the IMD. The protrusion is configured to transfer torque from the driver body to the IMD when the snare causes the head segment to apply a contact force and the protrusion is inserted into the device recess or device slot. The head segment is configured to roll and / or slide substantially on the IMD under the influence of torque from the driver body until the protrusion is inserted into the device recess or device slot. In an example, the medical system includes a delivery catheter that is configured to deliver and / or retrieve the head segment, the intermediate member, and / or the implantable medical device through the patient's vasculature.

[0008] In an example, a medical system includes: a driver configured to apply torque on an implantable medical device within an anatomical volume defined by a patient's body, the driver including a driver body and a head segment supported by the driver body, wherein the driver defines a lumen extending through at least a portion of the driver body and at least a portion of the head segment, the lumen opening to a lumen opening defined by the head segment, and wherein the head segment defines a protrusion configured to be inserted into a device recess or a device slot of the implantable medical device; and a snare configured to translate in a sliding manner within the lumen and through the lumen opening to engage the implantable medical device, wherein the snare is configured to cause the head segment to apply a contact force to the implantable medical device when the snare engages the implantable medical device and applies a force on the implantable medical device, and wherein the head segment is configured to transfer torque from the driver body to the implantable medical device when the snare causes the contact force and the protrusion is inserted into the device recess or the device slot.

[0009] In an example, a medical system includes: a driver configured to apply torque on an implantable medical device within an anatomical volume defined by a patient's body, the driver including a driver body and a head segment supported by the driver body, wherein the driver defines a lumen extending through at least a portion of the driver body and at least a portion of the head segment, the lumen opening to a lumen opening defined by the head segment; and a snare configured to translate in a sliding manner within the lumen and through the lumen opening to engage the implantable medical device, wherein the snare is configured to cause the head segment to apply a contact force to the implantable medical device when the snare engages the implantable medical device and applies a force on the implantable medical device, wherein the head segment is configured to deform and generate friction with the implantable medical device when the snare generates the contact force and the driver body applies the torque on the head segment, and wherein the head segment is configured to transmit the torque to the implantable medical device when the head segment generates the friction force.

[0010] In an example, a medical system configured to apply torque on an implantable medical device within an anatomical volume defined by a body of a patient includes: a snare including a snare ring of the snare, the snare ring configured to at least partially surround the implantable medical device within the anatomical volume defined by the body of the patient, wherein the snare ring includes a snare surface defining a textured surface; a driver including a driver body defining a distal portion and a proximal portion, the driver body defining a lumen extending through the distal portion and the proximal portion, and The distal portion defines a lumen opening that opens into the lumen, wherein the snare extends through the driver lumen and the lumen opening, wherein the driver body is configured to be positioned between the snare and the implanted medical device when the snare at least partially surrounds the implanted medical device, and the driver body translates in a distal direction relative to the snare, wherein the snare is configured to contract around the implanted medical device to exert a snare-applied force on the implanted medical device when the snare loop at least partially surrounds the implanted medical device and a proximal force is applied to the snare (e.g., when tension is applied to the snare). The snare-applied force may be a portion of the proximal force, wherein the snare surface is configured to frictionally engage the implanted medical device using a textured surface when the snare loop applies the snare-applied force on the implanted medical device, wherein the driver body is configured to exert a force on the snare when the snare surface frictionally engages the implanted medical device, and wherein the snare is configured to apply a torque to the implanted medical device using frictional engagement when the driver applies the force on the snare.

[0011] In an example, a technique includes engaging an implantable medical device using a snare that extends through a lumen and a lumen opening defined by a driver body of a driver so that a head segment of the driver applies a contact force on the implantable medical device; applying a torque on the head segment using the driver body, wherein the head segment defines a protrusion that is configured to be inserted into a device recess or a device slot of the implantable medical device; and transmitting the torque from the head segment to the implantable medical device using the head segment when the snare generates the contact force and the protrusion is inserted into the device recess or the device slot.

[0012] In an example, a technique includes applying a force on a snare using an actuator including an actuator body defining a lumen and a lumen opening when a snare surface of the snare frictionally engages an implantable medical device, wherein the snare extends through the lumen and the lumen opening, and wherein the actuator is positioned between the snare and the implantable medical device, and wherein the snare is configured to contract around the implantable medical device to apply a snare-applied force on the implantable medical device when a snare ring of the snare at least partially surrounds the implantable medical device and a proximal force is applied on the snare, the snare-applied force being a portion of the proximal force; and applying a torque to the implantable medical device using the snare when the actuator applies the force on the snare.

[0013] The details of one or more examples are set forth in the accompanying drawings and the description below. Other features, objects, and advantages will be apparent from the description and drawings, and from the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a conceptual diagram illustrating an exemplary medical system and delivery catheter within the heart.

[0015] Figure 2 is a perspective view of an exemplary medical system including a driver and a snare.

[0016] Figure 3 is a perspective view of an exemplary medical system including an actuator and a snare positioned relative to an implantable medical device.

[0017] Figure 4 is a perspective view of a head section engaging an implantable medical device.

[0018] Figure 5 is a schematic diagram of an exemplary medical system including an actuator, a snare, and a delivery catheter shown in conjunction with an exemplary implantable medical device.

[0019] Figure 6 yes Figure 5 Longitudinal cross-sectional view of an exemplary medical system.

[0020] Figure 7 is a device that engages an exemplary implantable medical device Figure 5 Schematic diagram of an exemplary medical system.

[0021] Figure 8 yes Figure 5 A cross-sectional view of an exemplary medical system of FIG. 1 , wherein a head segment is in a first position relative to an implantable medical device.

[0022] Fig. 9 is a cross-sectional view of an exemplary medical system with the head segment in a second position relative to an implantable medical device.

[0023] Fig.10 is a cross-sectional view of an exemplary medical system with the head segment in a third position relative to an implantable medical device.

[0024] Fig.11 is a cross-sectional view of an exemplary medical system with the head segment in a fourth position relative to an implantable medical device.

[0025] Fig.12 is a schematic diagram of an actuator and snare of an exemplary medical system.

[0026] Fig.13 yes Fig.12 Cross-sectional view of an exemplary medical system.

[0027] Fig.14 is a schematic diagram of a snare of a medical system engaging a medical device.

[0028] Fig.15 yes Fig.14 Cross-sectional view of an exemplary medical system.

[0029] Fig.16 is a perspective view of an exemplary medical device.

[0030] Fig.17 is a perspective view of an exemplary medical device including a pin member.

[0031] Fig.18 Example techniques for transmitting torque to an implantable medical device are illustrated.

[0032] Fig.19 Example techniques for transmitting torque to an implantable medical device using a snare surface are illustrated. DETAILED DESCRIPTION

[0033] The present disclosure describes a medical system configured to deliver, position, and / or retrieve an implantable medical device ("IMD") within an anatomical volume (e.g., a chamber of the heart) within a patient. The medical system is configured to receive a torque (e.g., from a clinician) and apply the torque to the IMD to implant, retrieve, reposition, and / or reorient the IMD in the anatomical volume. In an example, the medical system is configured such that the IMD can rotate about a device axis when the medical system applies the torque. Rotation of the implantable medical device may cause an attachment member of the implantable medical device to engage tissue at a target site, disengage tissue at the target site, and / or otherwise cause reorientation of the medical device within the patient.

[0034] The medical system includes a driver configured to receive torque (e.g., from a clinician) and apply the torque to an IMD, the driver including a driver body (e.g., an elongated body) and a head segment. In an example, the head segment is substantially located at a distal end of the driver ("driver distal end"). The head segment is configured to engage (e.g., contact) the IMD (e.g., a retrieval structure of the IMD) when the medical system applies torque to the IMD. The medical system also includes a snare configured to extend through a lumen of the driver ("driver lumen") to engage the IMD and apply a force thereon. The medical system is configured such that applying a force on the IMD using the snare can cause the head segment to apply a contact force on the IMD. For example, the head segment can be substantially translated on the snare to be positioned between a first portion of the snare ("first snare portion") and the IMD. When the snare engages the IMD and applies a force thereto using a second portion of the snare (e.g., a second snare portion distal to the first snare portion), the first snare portion can substantially compress the head segment between the first snare portion and the IMD such that the head segment applies a contact force (e.g., a reaction force) to the IMD. The contact force can be, for example, a force applied by the head segment against the IMD such that the contact force substantially maintains the head segment in contact with the IMD. In an example, the head segment is configured to apply the contact force against a retrieval structure of the IMD ("IMD retrieval structure"), such as against a perimeter defined by the IMD retrieval structure.

[0035] In some examples, the head segment defines a protrusion (e.g., a corner or other protrusion) that is configured to be inserted into a device recess or device slot of an IMD (e.g., an IMD retrieval structure) when the snare causes the head segment to apply a contact force. The protrusion can be configured to transfer torque from a driver body (e.g., torque applied by a clinician) to the IMD when the protrusion is inserted into the device slot or device recess. In some examples, as an alternative to or in addition to the protrusion, the snare (e.g., a snare loop) includes a snare surface that is configured to frictionally engage the IMD to transfer torque from the driver body. The snare surface can define a textured surface (e.g., a surface roughness and / or a surface undulation) that is configured to substantially clamp the IMD when the snare loop is tightened (e.g., contracted) around the IMD. The frictional engagement can generate a torque on the IMD snare surface when the driver (eg, the driver body and / or the head segment) applies a force to the snare (eg, a force substantially perpendicular to the contact force applied by the head segment).

[0036] When the head segment defines a protrusion configured to be inserted into a device recess or device slot, the medical system can primarily use the protrusion to transfer torque from the driver body to the IMD. When the snare includes a snare surface defining a textured surface configured to frictionally engage the IMD, the medical system can primarily use the snare surface to transfer torque from the driver body to the IMD. Thus, the medical system can be configured to primarily use the protrusion to transfer torque, configured to primarily use the snare surface to transfer torque, or configured to use both the protrusion and the snare surface to transfer torque.

[0037] The snare is configured to translate through the driver lumen and apply a force to the IMD when the snare loop of the snare is substantially tightened (e.g., contracted) around the IMD and a proximal force is applied to a distal portion of the snare (e.g., when tension is applied to the snare). The snare is configured such that when the snare extends through the driver lumen and applies a force to the IMD, the snare causes the head segment to apply a contact force to the IMD when the head segment engages the IMD. In an example, when the snare applies a force to the IMD and causes the head segment to apply a contact force to the IMD, the head segment is configured to be substantially positioned between the snare (e.g., the first snare portion) and the IMD. The driver can be configured such that when the snare extends through the driver lumen and applies a force to the IMD, the snare substantially presses the head segment against the IMD, causing the head segment to apply a contact force to the IMD.

[0038] For example, the driver lumen can extend through at least a portion of the driver body and through the head segment to a lumen opening defined by the head segment. When the snare engages the IMD and applies a force to the IMD, the snare can extend through the lumen opening. Thus, when the snare extends through the lumen opening and the head segment is positioned between the snare and the IMD, the force applied by the snare on the IMD substantially presses the head segment against the IMD, causing the head segment to apply a contact force to the IMD. In an example, the driver lumen defines a longitudinal axis extending through the lumen opening, and the lumen opening is configured to redirect a force applied to the snare (e.g., by a clinician) from a first direction substantially parallel to the longitudinal axis to a second direction defining an oblique angle to the longitudinal axis. The redirected force can act on the IMD to substantially pull the IMD into the head segment, causing the head segment to apply a contact force to the IMD.

[0039] In examples where the head segment defines a protrusion, the head segment is configured to transfer torque from the driver body to the IMD when the protrusion is inserted into a device recess or device slot defined by the IMD and the head segment applies a contact force to the IMD. In examples, the head segment defines a head perimeter substantially around a longitudinal axis extending through the lumen opening, and the protrusion (e.g., a corner defined by the head segment) defines a portion of the head perimeter. The head segment can be configured to roll or slide substantially around a structural perimeter defined by the IMD so that the protrusion is inserted into a device recess or device slot of the IMD. In examples, the structural perimeter substantially surrounds a device axis defined by the IMD.

[0040] For example, when torque is applied to the driver body (e.g., by a clinician), the torque can cause the driver body and the head segment to rotate about a longitudinal axis defined by the driver lumen. When the snare causes the head segment to apply a contact force against the IMD, the rotation can cause the driver body and the head segment to rotate relative to the IMD, causing the head segment to roll or slide substantially around the periphery of the structure. When the head segment rolls or slides substantially around the periphery of the structure, the driver body and the head segment can be angularly displaced relative to the IMD about the device axis. The driver can be configured such that when the protrusion of the head segment is inserted into the device recess or device slot of the IMD, the driver body, the head segment, and the IMD are locked in a substantially stationary relative position, so that a continuous torque applied to the driver body causes the protrusion to transfer at least a portion of the torque to the IMD, causing the IMD to rotate around the device axis.

[0041] Similarly stated, when the driver body, head section, and IMD are locked in a substantially stationary relative position, and continued torque on the driver body continues to rotate the driver body and head section about the longitudinal axis defined by the driver lumen, the longitudinal axis can begin to substantially revolve about the device axis of the IMD to accommodate the continued rotation of the driver body and head section. With the driver body, head section, and IMD locked in a substantially stationary relative position, the revolving of the longitudinal axis about the device axis causes the protrusion to transfer at least a portion of the torque to the IMD, causing the IMD to rotate about the device axis.

[0042] Thus, when the snare causes the head segment to apply a contact force against the IMD, a torque applied to the driver body (e.g., applied by a clinician) may cause the protrusion of the head segment to insert into a device recess or device slot of the IMD, and may cause the head segment to transmit the torque to the IMD, causing the IMD to rotate about a device axis. In an example, the IMD includes an attachment member (e.g., a helical member) that is configured to engage or disengage tissue based on rotation of the IMD. Rotation of the IMD about the device axis can cause the attachment member of the implantable medical device to engage tissue at a target site, disengage tissue at a target site, and / or otherwise cause the medical device to reorient within the patient.

[0043] The snare is configured to translate in a sliding manner within the driver lumen, such that the clinician can translate the snare proximally and / or distally within the driver lumen, and / or translate the driver body and head segment relative to the snare. For example, the snare can be configured to extend through the driver lumen and away from the head segment, such that when the IMD is away from the head segment, the snare loop can engage the IMD (e.g., an IMD retrieval structure). When the snare loop is engaged with the IMD, the clinician can translate the driver body and head segment distally over the snare, such that the snare substantially guides the head segment toward the IMD retrieval structure.

[0044] As used herein, the contact force applied from the head segment to the IMD retrieval structure may include one or more action forces and / or one or more reaction forces. For example, the contact force may include an action force applied by the head segment to the IMD retrieval structure when the head segment applies a distally directed force. The contact force may include a reaction force generated by the head segment in response to the snare applying a proximal force to the IMD and the IMD transmitting the proximal force to the head segment. Thus, the medical system is configured so that a clinician can use the driver and snare in combination or separately to control the contact force applied from the head segment to the IMD retrieval structure.

[0045] In some examples, in addition to or in lieu of using a head segment defining a head segment protrusion to transmit torque to an IMD, the medical system is configured to transmit torque to the IMD using a snare surface defined by a snare. In an example, a snare ring of the snare defines a snare surface. The snare surface can define a textured surface having a texture defined by, for example, a surface roughness or an undulating surface, the textured surface being configured to frictionally engage the IMD when the snare ring engages the IMD (e.g., around a portion thereof). When the snare ring engages the IMD, the driver body and the head segment can translate distally toward the IMD relative to the snare to be positioned between the snare (e.g., a first snare portion) and the IMD. For example, when the snare extends through the driver lumen, the driver body and the head segment can translate substantially on the snare so that the snare substantially guides the head segment to a position between the first snare portion and the IMD (e.g., an IMD retrieval structure).

[0046] As previously described, when the snare engages the IMD and applies force to the IMD, the snare can extend through the lumen opening. The force applied by the snare on the IMD can substantially press the head segment against the IMD, causing the head segment to apply a contact force to the IMD. The lumen opening can substantially redirect a force applied (e.g., by a clinician) on the snare from a first direction substantially parallel to the longitudinal axis to a second direction defining an oblique angle to the longitudinal axis, such that the redirected force substantially pulls the IMD into the head segment.

[0047] The snare (e.g., the first snare portion) can substantially cause the head section to be in a compressed state between the first snare portion and the IMD when the snare substantially pulls the IMD into the head section. The head section can be configured to apply a first reaction force to the first snare portion in response to the compression. Similarly, when the second snare portion applies a force to the IMD, the snare can be configured to cause the IMD to apply a second reaction force to the second snare portion. For example, the IMD can apply a second reaction force in response to the snare-applied force applied by the snare on the IMD. The first reaction force and the second reaction force can act in substantially opposite directions such that the first reaction force and the second reaction force cause the snare to be in a tensioned state. The snare can be configured such that an increase in a proximal force on a proximal portion of the snare causes an increase in the force applied by the snare and the corresponding second reaction force, thereby increasing the friction between the snare surface and the IMD. The medical system can be configured such that tension applied to the snare (e.g., a proximal force applied by a clinician on the snare) generates sufficient frictional force such that when the actuator body applies a force substantially perpendicular to the frictional force to the snare (e.g., the second snare portion), the snare acts to apply torque to the IMD.

[0048] For example, when the snare surface generates sufficient snare-applied force on the IMD, the clinician can apply a force on the proximal portion of the driver body that is substantially perpendicular to the snare-applied contact force. The driver body can transmit the applied force to the head segment, causing the head segment to apply the applied force to the second snare portion, thereby compressing the head segment between the second snare portion and the IMD. The applied force can cause the second snare portion to rotate about an axis defined by the IMD ("device axis"), such that the textured surface of the snare surface and the snare-applied force generate friction between the snare surface and the IMD. The friction force and the rotation of the second snare portion about the device axis can apply a torque to the IMD, causing the IMD to rotate substantially about the device axis. Therefore, the clinician can apply a torque to the IMD by using the snare to substantially increase the snare-applied force while using the driver to apply a force that is substantially perpendicular to the normal force applied by the snare.

[0049] The IMD may include an IMD retrieval structure that defines a retrieval structure perimeter that substantially surrounds the device axis of the IMD. The snare (e.g., the second snare portion) may be configured to substantially surround the retrieval structure perimeter when the snare frictionally engages the IMD. In an example, the IMD retrieval structure of the IMD defines a retrieval structure protrusion (e.g., a corner) that is configured to increase the frictional engagement between the IMD and the snare surface. The retrieval structure protrusion may define a portion of the retrieval structure perimeter. For example, the retrieval structure may be configured such that the retrieval structure perimeter defines a polygon (e.g., a hexagon) that defines a plurality of protrusions. The protrusion may be configured to increase the frictional engagement between the IMD and the snare surface, and / or substantially abut the snare surface such that when the first snare portion rotates about the device axis, the second snare portion transmits torque to the IMD retrieval structure.

[0050] In an example, a medical system may include a delivery catheter including a delivery container. The delivery container may define a delivery container volume that is configured to receive at least a portion of a driver, a snare, and an IMD. The delivery catheter may define a delivery catheter lumen and a delivery lumen opening that opens to the delivery container volume. The driver may be configured to translate in a sliding manner within the delivery catheter lumen and through the delivery lumen opening, such that relative movement between the driver and the delivery catheter may position at least a portion of the driver, snare, and / or IMD within the delivery container volume and / or out of the delivery container volume (via the delivery lumen opening). The delivery catheter may be configured to transfer through the patient's vascular system so that the driver, snare, and / or IMD may be retrieved from the patient's anatomical volume (e.g., a ventricle) and / or delivered to the patient's anatomical volume.

[0051] Figure 1is a conceptual diagram of an exemplary medical system 100 illustrated within the right atrium ("RA") of a heart 101. Medical system 100 includes a driver 102, which includes a driver body 104. Driver body 104 may include a distal portion 105 ("driver body distal portion 105") and a proximal portion 107 ("driver body proximal portion 107"), the distal portion being configured to be within a patient's body, and the proximal portion being external to the patient's body when driver body distal portion 105 is within the body. Head segment 106 is supported at a distal end 108 ("driver body distal end 108") of driver body 104. In some examples, head segment 106 and driver body 104 may be substantially separate components. In some examples, head segment 106 may be substantially adjacent to driver body 104 such that head segment 106 and driver body 104 define a unitary component.

[0052] The medical system 100 is configured to transmit torque to an IMD 110 within an anatomical volume of a patient, such as an RA of the heart 101. In an example, the medical system 100 is configured to engage a proximal portion 114 of the IMD 110 ("IMD proximal portion 114") to transmit torque. In an example, the IMD proximal portion 114 includes a retrieval structure 111 ("IMD retrieval structure 111"). The IMD retrieval structure 111 can be configured to engage with the medical system 100 and / or another medical device to, for example, implant the IMD 110 within the anatomical volume, retrieve the IMD 110 from the anatomical volume, reposition the IMD 110 within the anatomical volume, and / or reorient the IMD 110 within the anatomical volume. The IMD 110 may include a distal portion 116 ("IMD distal portion 116") opposite the IMD proximal portion 114.

[0053] In examples, the IMD 110 (e.g., the IMD distal portion 116) supports an attachment member 118 that is configured to engage tissue within a target site 120 of an anatomical volume. The attachment member 118 can be supported in the IMD distal portion 116. In some examples, the attachment member 118 is configured (e.g., as a helix) such that rotation of the IMD 110 about a device axis LD defined by the IMD 110 causes the attachment member to engage and / or disengage tissue from the target site 120. For example, the attachment member 118 can be configured such that rotation of the IMD 110 about the device axis LD in a first rotational direction W1 causes the attachment member 118 to engage tissue within the target site 120 (or, alternatively, disengage from these combinations). The attachment member 118 may be configured such that rotation of the IMD 110 about the device axis LD in a second rotational direction W2 substantially opposite to the first rotational direction W1 causes the attachment member 118 to disengage from (or alternatively, engage a combination of) tissue within the target site 120. In an example, the IMD 110 includes one or more components (e.g., a communication antenna, a sensor, or another component) that are configured to rotate and / or turn about the device axis LD when the IMD 110 is rotated about the device axis LD. The medical system 100 may rotate the IMD 110 about the device axis LD so that one or more of the components substantially establish a specific orientation relative to the patient's anatomy, another device implanted in or worn by the patient, another device external to the patient, and / or other devices.

[0054] The driver body 104 is configured to receive torque (e.g., from a clinician) and transmit the torque to the head section 106. The head section 106 is configured to engage the IMD 110 (e.g., the IMD retrieval structure 111) and transmit the torque to the IMD 110. The driver body 104 can be a substantially elongated body. In an example, the head section 106 is configured to be positioned against (e.g., contacting) the IMD 110 to transmit torque. The medical system 100 can be configured to apply a contact force to the head section 106 against the IMD 110 (e.g., the IMD retrieval structure 111) that is sufficient to minimize and / or substantially prevent the sliding of the head section 106 when the driver body 104 rotates the head section 106 around the device axis LD. When the contact force is sufficient to minimize and / or substantially prevent sliding, the rotation of the head section 106 around the device axis LD can rotate the IMD 110 around the device axis LD. Thus, the medical system 100 is configured to mechanically couple the driver 102 and the IMD 110 using at least the head segment 106 such that a torque applied to the driver body 104 can rotate the IMD 110 in a first rotational direction W1 and / or a second rotational direction W2 to, for example, implant the IMD 110 into an anatomical volume (such as a RA), retrieve the IMD 110, reposition the IMD 110, and / or reorient the IMD 110.

[0055] The medical system includes a snare 122 configured to cause the head segment 106 to apply a contact force to the IMD 110. The snare 122 may include a body 124 ("snare body 124") and a ring 126 ("snare ring 126") at a distal end of the snare body 124. The snare ring 126 is configured to engage the IMD 110 (e.g., the IMD retrieval structure 111) to, for example, guide the head segment 106 toward the IMD retrieval structure 111 and / or control the contact force between the head segment 106 and the IMD 110 (e.g., the IMD retrieval structure 111). In an example, the driver body 104 defines a lumen 128 ("driver lumen 128") and a lumen opening (driver lumen opening 125 is substantially at the driver distal end 108). The snare 122 can be configured to translate in a sliding manner within the driver lumen 128 such that a clinician can translate the snare 122 proximally (e.g., in direction P) and / or distally (e.g., in direction D) within the driver lumen 128, and / or translate the driver 102 and the head section 106 proximally and / or distally relative to the snare 122. For example, the snare 122 can be configured to extend through the driver lumen 128 and away from the head section 106 to engage the IMD 110. When the snare loop 126 is engaged with the IMD 110, the clinician can translate the driver 102 and the head section 106 distally on the snare 122 (e.g., on the snare body 124 and / or the snare loop 126) such that the snare 122 substantially guides the head section 106 toward the IMD retrieval structure 111.

[0056] For example, the head segment 106 can be substantially translated on the snare 122 to be positioned between a first portion 130 (“first snare portion 130”) of the snare 122 and the IMD 110. When the snare engages the IMD 110 using a second portion 132 (“second snare portion 132”) of the snare 122 and applies a force (e.g., a force in the proximal direction P) thereto, the first snare portion 130 can substantially position the head segment 106 in a compressed state between the first snare portion 130 and the IMD 110 (e.g., the IMD retrieval structure 111) such that the head segment 106 applies a contact force (e.g., a reaction force) to the IMD 110. The snare 122 is configured to translate through the driver lumen 128 to apply a force to the IMD when the snare loop 126 is sufficiently tightened (e.g., contracted) around the IMD 110 and a proximal force is applied (e.g., by a clinician) on a distal portion 121 ("snare distal portion 121") of the snare 122. In an example, the snare distal portion 121 is configured to be within the patient's body (e.g., via the driver lumen 128). The snare 122 can define a proximal portion 123 ("snare proximal portion 123") that can be external to the patient when the snare distal portion 121 is within the body. In an example, the driver lumen 128 defines a longitudinal axis L extending through the driver lumen opening 125, and the driver lumen opening 125 is configured to redirect a force applied on the snare 122 (e.g., applied by a clinician) from a first direction substantially parallel to the longitudinal axis L to a second direction defining an oblique angle to the longitudinal axis L, such that the redirected force acts on the IMD 110 (e.g., the IMD retrieval structure 111) to substantially pull the IMD 110 into the head segment 106, causing the head segment 106 to apply a contact force to the IMD 110. In an example, the contact force applied by the head segment 106 includes a force component acting on the IMD 110 in a direction substantially perpendicular to the longitudinal axis L.

[0057] In an example, the head section 106 defines a protrusion (eg, the protrusion 160 ( Figures 2 to 4 , Figures 8 to 11 )), the protrusion is configured to be inserted into a device recess (e.g., device recess 162 ()) of the IMD 110 (e.g., the IMD retrieval structure 111) when the snare 122 causes the head section 106 to apply a contact force to the IMD 110. Figures 2 to 11 ) or a device slot (e.g., device slot 164 ( Figures 2 to 11)). The protrusion can be configured to transfer torque from the driver body 104 (e.g., torque applied by a clinician) to the IMD 110 when the protrusion is inserted into the device slot or device recess. In examples, torque is applied to both the driver body 104 and the snare body 124, such that, for example, the driver body 104 and the snare body 124 rotate substantially about the device axis LD. In some examples, the snare 122 (e.g., the snare ring 126) includes a snare surface (e.g., the snare surface 180 ( Figures 12 to 15 )), the snare surface is configured to frictionally engage the IMD 110 to transfer torque from the driver body 104. The snare surface can define a textured surface that defines a texture (e.g., surface roughness and / or surface undulations) that is configured to substantially clamp the IMD 110 when the snare loop 126 is tightened (e.g., contracted) around the IMD 110. When the driver 102 (e.g., the driver body 104 and / or the head section 106) applies a force (e.g., a force substantially perpendicular to the longitudinal axis L) to the snare 122, the frictional engagement can generate a torque on the snare surface. The medical system 100 can be configured to primarily use the protrusions to transfer torque, to primarily use the snare surface to transfer torque, or to use both the protrusions and the snare surface to transfer torque. In an example, the IMD retrieval structure 111 defines a retrieval structure protrusion (e.g., the retrieval structure protrusion 190 ( Figures 12 to 15 )), the retrieval structure protrusion is configured to increase the frictional engagement between the IMD 110 and the snare surface.

[0058] The medical system 100 may include a delivery catheter 134 configured to retrieve the head segment 106, the snare 122, and / or the IMD 110 from an anatomical volume (e.g., RA) of the patient. In an example, the delivery catheter 134 is configured to deliver the head segment 106, the snare 122, and / or the IMD 110 to the anatomical volume of the patient. For clarity, the delivery catheter 134 is configured to deliver the head segment 106, the snare 122, and / or the IMD 110 to the anatomical volume of the patient. Figure 1 106, driver body 104, and / or IMD 110 using the patient's vasculature, such as an IVC or other vasculature leading to an anatomical volume.

[0059] In an example, the delivery conduit 134 includes a delivery container 140 or defines a delivery container volume (e.g., a delivery container volume 142 ( Figures 5 to 7 )) of a container configured to receive head segment 106, snare 122, and at least a portion of IMD 110. Delivery catheter 134 can define a lumen 144 ("delivery catheter lumen 144") and a delivery lumen opening (e.g., delivery lumen opening 146) that opens to delivery container volume 142. Figures 5 to 7 )). At least driver body 104 can be configured to translate in a sliding manner within delivery catheter lumen 144 and through the delivery lumen opening such that relative movement between driver body 104 and delivery catheter 134 can cause relative movement between head segment 106 and / or IMD 110 and delivery catheter 134. Delivery container 140 can be configured to move at a distal end of delivery container 140 (e.g., delivery container distal end 150 ( Figures 5 to 7 )) defines an opening (e.g., a delivery container opening 148 ( Figures 5 to 7 )). The delivery container opening can be configured such that the head section 106, the snare 122, and at least a portion of the IMD 110 can pass therethrough.

[0060] The delivery catheter 134 can be configured to retrieve the IMD 110 when the IMD 110 is anchored to tissue within the target site 120 (e.g., anchored by the attachment member 118). For example, the delivery catheter 134 can be configured to be translated through the patient's vasculature to position the head section 106 and the snare 122 proximate to the IMD 110 when the IMD 110 is anchored to tissue within the target site 120. The delivery catheter 134 can be configured such that a force in a distal direction D on the snare 122 (e.g., applied by a clinician) causes the snare 122 to extend distally of a delivery container opening of the delivery container 140 so that the snare 122 (e.g., the snare loop 126) can engage the IMD 110. The delivery catheter 134 can be configured such that a force on the driver body 104 in the distal direction D (e.g., applied by a clinician) causes the head segment 106 to extend distally of the delivery receptacle opening of the delivery receptacle 140 such that the driver body 104 can translate over the snare 122 to substantially position the head segment 106 between the snare 122 (e.g., the first snare portion 130) and the IMD 110. When the head segment 106 is positioned between the snare 122 and the IMD 110, the delivery catheter 134 (e.g., the delivery receptacle 140) can be configured to receive the head segment 106, the snare 122, and a portion of the IMD 110. For example, the delivery catheter 134 can move in the distal direction D relative to the head segment 106, the snare 122, and the IMD 110 to receive at least a portion of the head segment 106, the snare 122, and the IMD 110. The delivery catheter 134 can be configured to remove the head section 106, snare 122, and IMD 110 from the patient's anatomical volume (e.g., RA) once, for example, the head section 106 and / or snare 122 have applied torque to the IMD 110, thereby causing the attachment member 118 to disengage from tissue within the target site 120. The delivery catheter 134, head section 106, snare 122, and IMD 110 can then be retracted from the patient (e.g., via the patient's vasculature).

[0061] In an example, the delivery catheter 134 is configured to position the IMD 110 near the target site 120 such that the IMD 110 can be anchored to tissue within the target site 120 (e.g., anchored by the attachment member 118). For example, the delivery catheter 134 can be configured to position the head section 106 and the snare 122 within the delivery container volume 142 when the head section 106 is positioned between the snare 122 and the IMD 110. The delivery catheter 134 can be configured to traverse the vasculature of the patient to position the IMD 110 (e.g., the attachment member 118) within or near the target site 120. The medical system 100 (e.g., the driver body 104, the head section 106, and / or the snare 122) can apply torque to the IMD 110 to cause the attachment member 118 to engage tissue (e.g., tissue within the target site 120) when the attachment member 118 is located within or near the target site 120. The medical system 100 can be configured such that the head section 106 and / or snare 122 can be disengaged from the IMD 110 while the IMD 110 remains anchored to tissue within or near the target site 120. The delivery catheter 134, the head section 106, and / or the snare 122 can then be retracted from the patient (e.g., via the patient's vasculature).

[0062] Although the examples herein discuss delivery, retrieval, and / or positioning of IMD 110 within the RA of heart 101, medical system 100 may be configured to position IMD 110 in any other chamber of heart 101 and / or other anatomical volumes of a patient in a manner similar to that described for the RA of heart 101. In addition, although the examples herein discuss attachment member 118 defining a helix, attachment member 118 may also define other structures, such as one or more elongated tines extending from, for example, IMD distal portion 116. Target site 120 may include an appendage of the RA, or a triangle of Koch's zone of the RA, or some other portion of heart 101, or some other location within the patient's body.

[0063] Figure 2 1 is a perspective view of a portion of a medical system 100 in which a head segment 106 defines a protrusion configured to be inserted into a device recess or device slot of an IMD 110, the medical system including a snare 122 and a driver 102. The snare 122 extends through a driver lumen 128 and a driver lumen opening 125 defined by a driver body 104. The head segment 106 defines one or more protrusions (e.g., one or more corners), such as a protrusion 160 and a second protrusion 166, around a head perimeter PH defined by the head segment 106. The head perimeter PH can substantially surround a longitudinal axis L extending through the driver lumen 128 and the driver lumen opening 125. In examples, the head perimeter PH defines a polygon, such as a square or other polygon.

[0064] Figure 3 1 is a perspective view of the medical system 100, wherein the snare 122 extends distally to the driver 102 to engage the IMD 110. The snare ring 126 and / or the driver 102 can translate relative to the IMD 110 so that the snare ring 126 substantially surrounds the IMD 110 and a portion of the device axis LD. The driver 102 and / or the snare sheath 154 ( Figure 5 , Figure 6 ) can be translated distally relative to the snare 122 to cause the snare loop 126 to collapse around the IMD 110. The snare 122 can collapse around any portion of the IMD 110 (e.g., around the IMD distal portion 116 or the IMD proximal portion 114). In an example, when the snare 122 is collapsed around a portion of the IMD 110 distal from the IMD retrieval structure 111, the snare 122 can be translated proximally relative to the IMD 110 (e.g., proximally translated by a clinician) such that the snare loop 126 collapses around the IMD retrieval structure 111. In an example, the IMD retrieval structure 111 defines a shaft 182 ("IMD shaft 182") and a crown 184 ("IMD crown 184") proximal to the IMD shaft 182. The IMD crown 184 can be configured to substantially stop proximal translation of the snare 122 when the snare ring 126 is retracted about the IMD stem 182 , such that the snare 122 remains engaged with the IMD 110 .

[0065] The IMD 110 (e.g., the IMD retrieval structure 111) can define one or more device recesses (such as the device recess 162 and the device recess 173), and can define one or more device slots (such as the device slot 164 and the device slot 177). The protrusions (e.g., the protrusions 160, 166) of the head segment 106 can be configured to be inserted into the device recesses 162, 173 and / or the device slots 164, 177. In an example, the snare 122 is configured to cause the head segment 106 to apply a contact force (e.g., the contact force FC ( Figure 7 )) to substantially maintain the protrusion inserted into device recess 162, 173 or device slot 164, 177. Driver 102 is configured such that when the protrusion is inserted into device recess 162, 173 or device slot 164, 173, torque applied to driver body 104 (e.g., applied by a clinician) causes head section 106 to transmit torque to IMD 110.

[0066] Medical system 100 can be configured such that torque on head segment 106 causes head segment 106 to roll and / or slide substantially around a perimeter (e.g., crown perimeter P2) defined by IMD 110 to insert protrusions 160, 166 into device recesses 162, 173 or device slots 164, 177. In examples, device recesses 162, 173 are configured to substantially capture (e.g., grab) protrusions 160, 166 as device head 106 rolls and / or slides substantially around the perimeter, causing device head 106 to travel substantially around the perimeter toward device slots 165, 177. Device recesses 162, 173 and other device recesses can be used to cause device head 106 to travel around the perimeter until device head 106 is inserted into device slots 164, 177.

[0067] For example, Figure 4 The head segment 106 is illustrated inserted into the device slot 164. The snare 122 applies a force to the IMD stem 182 such that the head segment 106 applies a contact force on the IMD crown 184, thereby substantially retaining the head segment 106 within the device slot 164. With the head segment 106 substantially retained within the device slot 164, torque applied to the driver body 1004 (e.g., applied by a clinician) can be transmitted through the head segment 106 to the IMD 110 (e.g., the IMD crown 184).

[0068] Figure 5 1 is a schematic diagram of a medical system 100 including a snare 122, a driver 102, and a delivery catheter 134. The snare 122 includes a snare body 124 and a snare ring 126. The driver 102 includes a head section 106 and defines a driver lumen 128. The driver lumen 128 defines a longitudinal axis L. Figure 6 The medical system 100 is illustrated with a cross-sectional view of the driver 102 and the delivery catheter 134 , wherein the cross-section cuts a plane taken through the longitudinal axis L. As shown in FIG. Figure 7 1 is a schematic diagram of medical system 100 with head section 106 engaging IMD 110 (e.g., IMD retrieval structure 111) within delivery container volume 142. For clarity, delivery container 140 of delivery catheter 134 is illustrated in cross-section, with the cross-sectional cutting plane passing through longitudinal axis L. Attachment member 118 engages tissue wall 141 such that IMD 110 remains anchored to tissue within or near target site 120.

[0069] The snare 122 can be configured to translate distally (e.g., in a distal direction D) and / or proximally (e.g., in a proximal direction P) within the driver lumen 128 relative to the driver 102 and the delivery catheter 134. The snare 122 can extend through the driver lumen opening 125 to translate within the driver lumen 128. The driver 102 can be configured to translate distally and / or proximally within the delivery catheter lumen 144 relative to both the snare 122 and the delivery catheter 134. The delivery catheter 134 can be configured to translate distally and / or proximally relative to the snare 122 and the driver 102. The snare 122 can extend through the driver lumen opening 125 to translate within the driver lumen 128.

[0070] The snare 122 is configured to engage the IMD retrieval structure 111 when the snare loop 126 is positioned around or near the IMD retrieval structure 111. For example, the snare loop 126 can define an annular hole 152 that is configured to receive (e.g., substantially surround) at least some portion of the IMD retrieval structure 111 when the snare loop 126 is positioned around or near the IMD retrieval structure 111. The snare 122 can be configured to cause the snare loop 126 (e.g., the annular hole 152) to substantially contract around the IMD retrieval structure when the snare loop 126 is engaged with the IMD retrieval structure 111. For example, the snare 122 can be configured such that when the snare loop 126 engages the IMD retrieval structure 111, a proximal force (e.g., a force in the proximal direction P) applied to the snare body 124 causes the snare loop 126 (e.g., the annular hole 152) to contract around the IMD retrieval structure 111.

[0071] In some examples, snare 122 includes a sheath 154 ("snare sheath 154") defining a lumen 156 ("sheath lumen 156"). Snare sheath 154 can be configured to translate in a sliding manner within driver lumen 128. Figure 6 , for clarity, the snare sheath 154 is shown as transparent within the driver lumen 128. The snare body 124 and / or the snare ring 126 can be configured to translate in a sliding manner within the sheath lumen 156 so that the clinician can move the snare sheath 154 relative to the snare body 124 and / or the snare ring 126 (e.g., distally and / or proximally relative movement). For example, when the snare ring 126 is engaged with the IMD retrieval structure 111, the clinician can translate the snare sheath 154 distally relative to the driver body 104 to shrink the snare ring 126 around the IMD retrieval structure 111. The translation of the snare sheath 154 toward the snare ring 126 can cause a portion of the snare ring 126 to enter the sheath lumen 156, at least partially collapse the annulus 152 and shrink the snare ring 126 around the retrieval structure 111.

[0072] The snare sheath 154 can be configured to substantially guide the driver 102 toward the IMD retrieval structure 111 after causing the snare loop 126 to contract around the IMD retrieval structure 111. The snare sheath 154 can include: a distal portion 157 ("snare sheath distal portion 157" ( Figure 6 )), which is configured to be within the patient's body (e.g., via the driver lumen 128); and a proximal portion ("snare sheath proximal portion" (not shown)), which can be outside the patient's body when the snare sheath distal portion 157 is within the body. The medical system 100 can be configured so that a clinician can use the snare proximal portion 123 and / or the snare sheath proximal portion to cause relative movement between the snare sheath 154 and the snare body 124 and / or the snare ring 126.

[0073] The snare body 124 and / or the snare ring 126 can translate in a distal direction D and / or a proximal direction P relative to the driver 102, the delivery catheter 134, and / or the IMD 110 (e.g., within the driver lumen 128 and / or the sheath lumen 156). The snare body 124 can be configured such that a force applied to the snare body 124 (e.g., a force applied by a clinician on the snare proximal portion 123) causes the snare body 124 to translate within the driver lumen 128 and / or the sheath lumen 156, and the translation of the snare body 124 causes the translation of the snare ring 126. The snare body 124 can be configured to change the position of the snare 122 relative to the driver 102, the delivery catheter 134, and / or the IMD 110. For example, the snare 122 can be translated substantially toward the IMD 110 in a distal direction D (e.g., by a clinician applying a force to the snare body 124) to place the snare loop 126 proximate the IMD retrieval structure 111. Portions of the snare 122 (e.g., the snare body 124) can be translated substantially away from the IMD 110 in a proximal direction P (e.g., by a clinician applying a force to the snare body 124) to retract the snare loop 126 around the IMD retrieval structure 111, and / or the snare sheath 154 can be translated distally relative to the snare 122 (e.g., by a clinician) to retract the snare loop 126 around the IMD retrieval structure 111. The snare 122 can be configured to translate within the driver lumen 128 and / or the sheath lumen 156 such that the snare loop 126 is positioned distally or proximal to the delivery receptacle opening 148. For example, the snare loop 126 can be positioned distal to the delivery container opening 148 (eg, Figure 5 , Figure 6 ) and / or may be positioned proximal to the delivery container opening 148 (eg Figure 7 shown).

[0074] The driver body 104 is configured to translate within the delivery catheter lumen 144 to cause the head segment 106 to engage the IMD 110 (e.g., the IMD retrieval structure 111). The driver body 104 can translate in a distal direction D and / or a proximal direction P relative to the snare 122, the delivery catheter 134, and / or the IMD 110 (e.g., within the delivery catheter lumen 144). The driver body 104 can be configured such that a force applied to the driver body 104 (e.g., a force applied by a clinician on the driver body proximal portion 107) causes the driver body 104 to translate within the delivery catheter lumen 144, and the translation of the driver body 104 causes the translation of the head segment 106. The driver body 104 can be configured to change the position of the head segment 106 relative to the snare 122, the delivery catheter 134, and / or the IMD 110. For example, the head segment 106 can be moved substantially toward the IMD 110 in a distal direction D (e.g., by a clinician applying a force to the driver body 104) to engage the head segment 106 with the IMD retrieval structure 111. The head segment 106 can be moved substantially away from the IMD 110 in a proximal direction P (e.g., by a clinician applying a force to the driver body 104) to disengage the head segment 106 from the IMD retrieval structure 111. The driver body 104 can be configured to translate within the delivery catheter lumen 144 such that the head segment 106 and / or other portions of the driver body 104 are positioned distally and / or proximally of the delivery container opening 148. For example, the head segment 106 can be positioned distally of the delivery container opening 148 (e.g., Figure 5 , Figure 6 ) and / or may be positioned proximal to the delivery container opening 148 (e.g. Figure 7 shown).

[0075] Figure 7 The head segment 106 is illustrated as being engaged with the IMD 110. The snare 122 is configured to cause the head segment 106 to apply a contact force FC to the IMD 110 when the head segment 106 engages the IMD 110 and the snare 122 applies a force to the IMD 110. For example, in Figure 71 , the head segment 106 is substantially positioned between the first snare portion 130 and the IMD retrieval structure 111. The snare 122 engages the IMD retrieval structure 111 using the second snare portion 132 and applies a snare-applied force FS thereto. The first snare portion 130 and the second snare portion 132 are portions of the snare ring 126 and / or the snare body 124. The snare 122 and / or the head segment 106 are configured such that when the second snare portion 132 applies the snare-applied force FS to the IMD retrieval structure 111, the first snare portion 130 substantially compresses the head segment 106 between the first snare portion 130 and the IMD retrieval structure 111, causing the head segment 106 to apply a contact force FC (e.g., a reaction force) to the IMD retrieval structure 111.

[0076] The second snare portion 132 can be configured to apply a snare-applied force FS to the IMD retrieval structure 111 when tension is applied to the snare (e.g., when a proximal force (e.g., by a clinician) is applied to the snare distal portion 121). In an example, when the second snare portion 132 applies the snare-applied force FS to the IMD retrieval structure 111, the snare ring 126 surrounds the device axis LD of the IMD 110. The head segment 106 can be configured such that the contact force FC substantially maintains the head segment 106 in contact with the IMD retrieval structure 111. In an example, the head segment 106 is configured to apply the contact force FC against a perimeter defined by the IMD 110.

[0077] For example, Figure 8 A cross-sectional view of the head section 106 engaged with the IMD retrieval structure 111 is illustrated, the cross-sectional view being taken from Figure 7 When the snare ring 126 and / or the snare body 124 extend through the driver lumen 128 and the driver lumen opening 125, the snare ring 126 retrieves a portion of the structure 111 around the device axis LD and IMD. Figure 8 , the snare loop 126 is shown in phantom, “behind” the cutting plane AA′. The snare loop 126 , the snare body 124 , and / or the first snare portion 130 may extend through the sheath lumen 156 of the snare sheath 154 .

[0078] exist Figure 8, the second snare portion 132 applies a snare-applied force FS to the IMD retrieval structure 111. When the second snare portion 132 applies the snare-applied force FS, the snare 122 causes the head segment 106 to apply a contact force FC to the IMD retrieval structure 111. In an example, the head segment 106 applies a contact force FC to a structural perimeter PS defined by the IMD 110. The contact force FC substantially maintains the head segment 106 in contact with the structural perimeter PS of the retrieval structure 111. For example, the structural perimeter PS can be a perimeter defined by an IMD surface 161 (e.g., the IMD retrieval structure 111) of the IMD 110 that at least partially surrounds the device axis LD. In an example, the contact force FC substantially maintains the head surface 163 in contact with the IMD surface 161 and / or the structural perimeter PS. The head surface 163 can at least partially surround the longitudinal axis L. In an example, the head surface 163 defines a head perimeter PH that at least partially surrounds the longitudinal axis L. In an example, contact force FC substantially maintains head perimeter PH in contact with IMD surface 161 and / or structure perimeter PS. Head perimeter PH can be substantially perpendicular to longitudinal axis L. Structure perimeter PS can be substantially perpendicular to device axis LD.

[0079] The snare 122 is configured to be snare-resistant when a force substantially parallel to the longitudinal axis L is applied (eg, by a clinician) to the snare proximal portion 123 ( Figure 1 ), the snare-applied force FS is applied when the contact force FC is applied on the IMD retrieval structure 111. The driver lumen opening 125 can be configured to substantially redirect the force applied on the snare proximal portion 123 such that the redirected force generates the snare-applied force FS at an angle substantially perpendicular to or oblique to the longitudinal axis L. In an example, the snare-applied force FS includes a first force component acting on the IMD retrieval structure 111 in a first direction substantially perpendicular to the longitudinal axis L. The contact force FC may include a second force component acting on the IMD retrieval structure 111 in a second direction substantially perpendicular to the longitudinal axis L. In an example, the second direction is substantially opposite to the first direction.

[0080] In an example, the head segment 106 defines a protrusion 160, such as a corner. In an example, the protrusion 160 defines a portion of the head periphery PH. In an example, at least a portion of the head periphery PH defines a polygonal curve, and the protrusion 160 defines at least a portion of the polygonal curve. The head periphery PH may define a polygon, such as, for example, a rectangle or other polygon. In some examples, at least a portion of the head periphery PH defines a curved segment or a curved segment, and the protrusion 160 defines at least a portion of the curved segment or the curved segment. For example, when a portion of the head periphery PH defines a curved segment or a curved segment, this may mean that the curved segment or the curved segment defines a first point, a second point, and a third point, the first point defining a first radial displacement from the longitudinal axis L, the second point defining a second radial displacement from the longitudinal axis L, and the third point defining a third radial displacement from the longitudinal axis L, wherein the second radial displacement is greater than the first radial displacement and the third radial displacement. In an example, the second point is located between the first point and the third point.

[0081] Head section 106 can be configured to transfer torque from driver body 104 to IMD 110 when protrusion 160 is inserted into device recess 162 or device slot 164 defined by IMD 110 (e.g., IMD retrieval structure 111). For example, driver body 104 can be configured to transfer torque T1 to head section 106 about longitudinal axis L when torque T1 is applied (e.g., by a clinician) on driver body 104. In an example, head section 106 is configured to slide and / or roll substantially about structure perimeter PS when driver body 104 applies torque T1 so that protrusion 160 can be inserted into device recess 162 or device slot 164. As used herein, when the head segment 106 slides and / or rolls substantially around the structure perimeter PS, this may mean that when the head segment 106 contacts the structure perimeter PS, the head segment 106 rotates about the longitudinal axis L and relative to the IMD 110 (e.g., the IMD retrieval structure 111). In an example, when the head segment 106 rolls or slides substantially around the structure perimeter PS, the driver body 104 and the head segment 106 are angularly displaced relative to the IMD 110. The snare 122 can be configured to cause the head segment 106 to apply a contact force FC to the structure perimeter PS when the driver body 104 applies a torque T1 to the head segment 106.

[0082] For example, Fig. 9 It is illustrated that due to the torque T1 applied by the driver body 104 to the head section 106, the head section 106 has substantially slid and / or rolled around the structure perimeter PS. Figure 8As compared to the relative orientation between the head segment 106 and the IMD retrieval structure 111, the head segment 106 has been rotated about the longitudinal axis L and relative to the IMD retrieval structure 111 due to the torque T1 applied to the head segment 106 when the snare 12 applied the contact force FC to the head segment 106. The head segment 106 has slid and / or rolled substantially about the structural perimeter PS such that, in addition to rotating relative to the IMD retrieval structure 111, a point P1 defined by the head segment 106 has been angularly displaced by an angle A1 relative to the IMD retrieval structure 111 relative to the IMD 110. Thus, the medical system 100 is configured such that when the head segment 106 engages the IMD 110 (e.g., the IMD retrieval structure 111), the torque T1 applied to the head segment 106 can change the position of the head segment 106 relative to the IMD 110. The clinician can apply torque T1 to driver body 104 to cause head segment 106 to slide and / or roll substantially around structural perimeter PS, thereby changing the position of head segment 106 relative to IMD 110. In an example, when head segment 106 engages IMD 110, and / or when head segment 106 slides and / or rolls around structural perimeter PS, head segment 106 and at least a portion of IMD 110 (e.g., IMD retrieval structure 111) are configured to be positioned within delivery container 140 (e.g., within delivery container volume 142).

[0083] Medical system 100 can be configured such that changing the position of head segment 106 relative to IMD 110 (eg, using torque T1) causes protrusion 160 to be inserted into device recess 162 or device slot 164. For example, Fig.10 The head segment 106 is illustrated as having slid and / or rolled substantially around the structure perimeter PS such that the protrusion 160 is inserted into the device recess 162. In examples, the medical system 100 (e.g., the snare 122) is configured such that when the protrusion 160 is inserted into the device recess 162, the contact FC applied by the head segment 106 is transferred by the protrusion 160 to the device recess 162. In some examples, the medical system 100 is configured such that when the torque T1 is applied to the head segment 106, the contact force FC acting on the device recess 162 keeps the protrusion 160 substantially inserted into the device recess such that the head segment 106 transfers at least some portion of the torque T1 to the IMD 110 (e.g., the IMD retrieval structure 111). The portion of the torque T1 transferred can cause the IMD 110 to rotate substantially about the device axis LD.

[0084] For example, the medical system 100 can be configured such that when the protrusion 160 is inserted into the device recess 162, the contact force FC can cause the head segment 106 and the IMD 110 to remain substantially stationary relative to each other (e.g., such that the head segment 106 substantially stops sliding and / or rolling on the structural perimeter PS). By increasing the snare-applied force FS (thereby increasing the contact force FC) using the snare 122, the contact force FC can be increased (e.g., by a clinician) to a level sufficient to cause the head segment 106 and the IMD 110 to remain substantially stationary relative to each other. When the head segment 106 and the IMD 110 maintain a substantially stationary relative position and the torque T1 continues to rotate the head segment 106 about the longitudinal axis L, the longitudinal axis L can substantially revolve around the device axis LD of the IMD 110 to accommodate the continued rotation of the head segment 106. With the head section 106 and the IMD 110 maintaining a substantially stationary relative position, the rotation of the longitudinal axis L about the device axis LD may cause the protrusion 160 to apply at least a portion of the torque T1 to the IMD 110, causing the IMD 110 to rotate about the device axis LD. For example, when the torque T1 is applied to the head section 106, the rotation of the longitudinal axis L about the device axis LD may cause the protrusion 160 to transfer the torque T2 about the device axis LD to the IMD 110 (e.g., the IMD retrieval structure 111). For example, the torque T1 may cause the protrusion 160 to apply a head-transmitted force FH1 to the device recess 162 to transfer the torque T2 to the IMD 110. In examples, the head-transmitted force FH1 is substantially perpendicular to the longitudinal axis L and / or the device axis LD.

[0085] In a similar manner, medical system 100 can be configured such that changing the position of head segment 106 relative to IMD 110 causes protrusion 160 to be inserted into device slot 164. For example, Fig.11 The head segment 106 is illustrated as having slid and / or rolled substantially around the structure perimeter PS such that the protrusion 160 is inserted into the device slot 164. The medical system 100 can be configured such that when the protrusion 160 is inserted into the device slot 164, the contact force FC applied by the head segment 106 is transmitted to the device slot 164 by the protrusion 160 and / or other portions of the head segment 106. The head segment 106 can transmit at least a portion of the torque T1 to the IMD 110 (e.g., the IMD retrieval structure 111) to rotate the IMD 110 substantially around the device axis LD.

[0086] For example, the medical system 100 can be configured such that when the protrusion 160 is inserted into the device slot 164, the contact force FC can cause the head segment 106 and the IMD 110 to maintain a substantially stationary relative position. When the head segment 106 and the IMD 110 maintain a substantially stationary relative position and the torque T1 causes the longitudinal axis L to rotate substantially about the device axis LD to accommodate the continued rotation of the head segment 106, when the torque T1 is applied to the head segment 106, the rotation of the longitudinal axis L about the device axis LD may cause the protrusion 160 and / or other portions of the head segment 106 to transfer the torque T3 about the device axis LD to the IMD 110 (e.g., the IMD retrieval structure 111). For example, the torque T1 can cause the protrusion 160 and / or other portions of the head segment 106 to apply a head transfer force FH2 to the device slot 164 to transfer the torque T3 to the IMD 110. In an example, the head transmitted force FH2 is substantially perpendicular to the longitudinal axis L and / or the device axis LD.

[0087] The IMD 110 (e.g., the IMD retrieval structure 111) can define either the device recess 162 or the device slot 164, or can define both the device recess 162 and the device slot 164, so that the protrusion 160 transmits torque to the IMD 110. In an example, the device recess 162 is configured to roll the head segment 106 around the structure perimeter PS (e.g., substantially stop sliding around the structure perimeter PS) when the protrusion 160 is inserted into the device recess 162. The rolling caused by the device recess 162 can substantially establish the orientation of the head segment 106 for easier insertion into the device slot 164. For example, as the head segment 106 slides and / or rolls about the structure perimeter PS, the device recess 162 can substantially capture the projection 160 when the projection 160 is inserted into the device recess 162, such that when the torque T1 rotates the head segment 106 about the longitudinal axis L, the torque T1 causes the head segment 106 to substantially pivot about the projection 160. The pivoting of the head segment 106 about the projection 160 can reorient the head segment 106 relative to the IMD 110 (e.g., the IMD retrieval structure 111) to an orientation that is more easily inserted into the device slot 164. The head segment 106 can substantially pivot about the projection 160 until the rotation of the head segment 106 about the longitudinal axis L causes the projection 160 to exit the device recess 162.

[0088] In an example, the device recess 162 defines a first portion of the structural perimeter PS ("first PS portion"). The device slot 164 may define a second portion of the structural perimeter PS ("second PS portion"). In an example, the first PS portion and / or the second PS portion define a polygonal curve, and the device recess 162 and / or the device slot 164 define at least a portion of the polygonal curve. In some examples, the first PS portion and / or the second PS portion define a curved segment or a curved segment, and the device recess 162 and / or the device slot 164 define at least a portion of the curved segment or the curved segment. For example, when the first PS portion and / or the second PS portion define a curved segment or a curved segment, this may mean that the curved segment or the curved segment defines a first point, a second point, and a third point, the first point defining a first radial displacement from the device axis LD, the second point defining a second radial displacement from the device axis LD, and the third point defining a third radial displacement from the longitudinal axis L, wherein the second radial displacement is less than the first radial displacement and the third radial displacement. In an example, the second point is located between the first point and the third point.

[0089] In some examples, the head segment 106 can further define at least one second protrusion 166. The second protrusion can be configured similarly to the protrusion 160. In an example, a first portion of the structural perimeter PS defines the protrusion 160, and a second portion of the structural perimeter PPS defines the second protrusion 166. In an example, when the head segment 106 is inserted into the device slot 164, the device slot 164 is configured to receive both the protrusion 160 and the at least second protrusion 166. The device slot 164 can be configured to receive the protrusion 160 and the second protrusion 166 when the head segment 106 applies the torque T3 to the IMD 110. In an example, the device slot 164 is configured to receive the protrusion 160 and the second protrusion 166 when a portion of the head segment 106 applies the head transfer force FH2 to the device slot 164.

[0090] In some examples, the head segment 106 defines a head support surface 168 that is configured to transfer the head transfer force FH2 to a slot support surface 170 defined by the device slot 164. The head support surface 168 can be a portion of the head surface 163. The slot support surface 170 can be a portion of the IMD surface 161. The head segment 106 can be configured such that when the head segment 106 transfers the head transfer force FH2 to the IMD 110, the head support surface 168 contacts the slot support surface 170. In an example, the head segment 106 is configured such that when the device slot 164 receives the protrusion 160 and the second protrusion 166, the head support surface 168 is substantially parallel to the slot support surface 170. In an example, the head segment 106 is configured such that the head transfer force FH2 acts in a direction substantially normal to the head support surface 168 and / or the slot support surface 170 such that, for example, the orientation of the head transfer force FH2 is reduced and / or the likelihood of the head transfer force FH2 causing the head segment 106 to leave the device slot 164 is minimized.

[0091] In an example, the device slot 164 is configured to receive a portion of the head segment 106 that is much larger than the device recess 162. For example, the device recess 162 can be configured to receive a first portion of the head segment 106 when the protrusion 160 is inserted into the device recess 162. When the protrusion 160 and the second protrusion 166 are inserted into the device slot 164, the device slot 164 can be configured to receive a second portion of the head segment 106. The second portion of the head segment 106 can be larger (e.g., larger in volume) than the first portion of the head segment 106. In an example, the first PS portion defined by the device recess 162 defines a first segment length, and the second PS portion defined by the device slot 164 defines a second segment length, and the second segment length is greater than the first segment length. In some examples, the head segment 106 and / or the device recess 162 are configured such that when the head segment 106 is inserted into the device recess 162, the head segment 106 defines a first maximum radial displacement from the device axis LD, and the head segment 106 and / or the device slot 164 are configured such that when the head segment 106 is inserted into the device slot 164, the head segment 106 defines a second maximum radial displacement from the device axis LD, and the first maximum radial displacement is greater than the second maximum radial displacement. In an example, the device recess 162 defines a first minimum radial displacement from the device axis LD, and the device slot 164 defines a second minimum radial displacement from the device axis LD, and the first minimum radial displacement is greater than the second minimum radial displacement. The second maximum radial displacement, the first maximum radial displacement, the first minimum radial displacement, and / or the second minimum radial displacement can be substantially perpendicular to the device axis LD and / or the longitudinal axis L.

[0092] In addition to device recess 162, IMD 110 (e.g., IMD retrieval structure 111) may further define a plurality of device recesses, such as device recess 165, device recess 167, device recess 169, device recess 171, and / or device recess 173 ( Fig.11 ). Device recesses 165, 167, 169, 171, 173 may be examples of device recess 162 and may be configured similarly to device recess 162. IMD 110 (e.g., IMD retrieval structure 111) may define a plurality of device slots, such as device slot 177 ( Fig.11 ) or another device slot. Device slot 177 may be an example of device slot 164 and may be configured similarly to the device slot. In an example, IMD 110 defines device slot 164 and device slot 177 on structural perimeter PS, and defines one or more of device recesses 162, 165, 167, 169, 171, 173 between device slot 164 and device slot 177 on structural perimeter PS. In an example, IMD 110 defines two or more of device recesses 162, 165, 167, 169, 171, 173 between device slot 164 and device slot 177 on structural perimeter PS.

[0093] In some examples, the head surface 163 can define a substantially smooth surface that is configured to deform and substantially define a protrusion when the head segment 106 applies a contact force FC to the device recesses 162, 165, 167, 169, 171, 173. The head segment 106 can be configured so that the contact force FC causes deformation. For example, the head segment 106 can include a material (e.g., a relatively soft polymer) that defines the head surface 163 and deforms under the contact force FC. The material can be, for example, a TPE (thermoplastic elastomer) or an LSR (liquid silicone rubber). In an example, the material has a Shore A hardness greater than or equal to about 10 and less than or equal to about 100. When the snare 122 causes the head section to apply a contact force FC to the IMD 110 (e.g., to the device recesses 162, 165, 167, 169, 171, 173), the contact force FC can deform the relatively soft material of the head section 106 (e.g., define a protrusion within the device recesses 162, 165, 167, 169, 171, 173) and substantially clamp the device recesses 162, 165, 167, 169, 171, 173. The head section 106 can transfer torque to the recesses 162, 162, 165, 167, 169, 171, 173 using the protrusion caused by the material deformation, so that the head section transfers the torque to the IMD 110 (e.g., the IMD retrieval structure 111).

[0094] In some examples, the material defining the head surface 163 is configured to generate frictional forces between the head surface 163 and the IMD surface 161 when the contact force FC deforms the material of the head segment 106. In examples, the frictional forces are sufficient to enable the head surface 163 to transfer torque to the IMD surface 161 without inserting the head segment 106 into the device recesses 162, 165, 167, 169, 171, 173 or the device slots 163, 177. In examples where the frictional forces are sufficient to enable the head surface 163 to transfer torque to the IMD surface 161 without inserting the head segment 106 into the device recesses 162, 165, 167, 169, 171, 173 or the device slots 163, 177, the IMD 110 may or may not define one or more of the device recesses 162, 165, 167, 169, 171, 173 and / or the device slots 163, 177.

[0095] Thus, medical system 100 can be configured to transfer torque T1 from driver body 104 to head section 106. For example, when protrusion 160 is inserted into device recess 162 and / or protrusion 160 and second protrusion 166 are inserted into device slot 164, head section 106 can transfer at least a portion of torque T1 to IMD 110 to rotate IMD 110 substantially about device axis LD. Medical system 100 can be configured such that a clinician can apply torque T1 to driver body proximal portion 107 to rotate IMD 110 to implant IMD 110 into an anatomical volume, retrieve IMD 110 from an anatomical volume, and / or otherwise reorient IMD 110 when IMD 110 is positioned within an anatomical volume.

[0096] References Figures 5 to 7 , IMD 110 (which in some examples may include a pacemaker such as a leadless pacemaker and / or a fully intracardiac pacemaker) may include one or more electrodes, such as electrode 172 supported by attachment member 118, electrode 174 supported by housing 175 of IMD 110 ("IMD housing 175"), and / or electrode 176 (e.g., a return electrode) supported by IMD housing 175. One or more of electrodes 172, 174, 176 may be electrically connected to operating circuitry 178. Operating circuitry 178 may be configured to deliver therapy to a patient and / or sense physiological signals of the patient using electrodes 172, 174, 176. In an example, at least a portion of operating circuitry 178 is supported by IMD housing 175. In some examples, at least a portion of operating circuitry 178 is supported by another device displaced from IMD 110 (such as another device within the patient's body and / or another device outside the patient's body).

[0097] The driver body 104 can be configured to bend and / or define a curvature (e.g., within the vasculature of a patient) and to transmit torque from the head segment 106 to the IMD 110. In an example, the driver body 104 defines a flexible portion that supports and / or abuts the head segment 106. The flexible portion can be, for example, a portion of the driver body 104 proximal to the head segment 106 (e.g., one or more portions of the driver body distal portion 105 and / or the driver body proximal portion 107). In an example, the head segment 106 defines a first stiffness and the flexible portion defines a second stiffness, wherein the first stiffness is greater than the second stiffness. The first stiffness can indicate the degree to which the head segment 106 resists deformation in response to a force applied to the head segment 106 (e.g., a compressive force applied by the first snare portion 130). The second stiffness can indicate the degree to which the flexible portion resists deformation in response to the force. Thus, the flexible portion (having a lower stiffness) may be configured to bend and / or define a curvature while the head segment 106 (having a higher stiffness) transmits torque from the head segment 106 to the IMD 110 .

[0098] Some portion or substantially all of the snare loop 126 can be configured to translate in a sliding manner within the driver lumen 128 (e.g., via the sheath lumen 156) when the snare body 124 translates within the driver lumen 128 (e.g., via the sheath lumen 156). For example, the snare loop 126 can be configured to at least partially collapse to translate in a sliding manner within the driver lumen 128. In examples, the snare body 124 is sufficiently flexible to define a bend and / or curvilinear shape within the driver lumen 128. In some examples, the snare body 124 can be sufficiently rigid to allow the snare loop 126 to extend distally beyond the driver lumen opening 125 to engage with the IMD 110 (e.g., capture the IMD). The snare loop 126 and / or the snare body 124 may be resiliently biased such that when the snare loop 126 is not constrained by the driver lumen 128, the snare loop 126 substantially establishes a particular orientation relative to the snare body 124. For example, the snare loop 126 and / or the snare body 124 may be resiliently biased such that when the snare loop 126 is not constrained by the driver lumen 128, the snare loop 126 and the snare body 124 define an angle (e.g., an angle of approximately 90 degrees, an angle of approximately 45 degrees, or some other angle).

[0099] In some examples, instead of or in addition to the protrusions, the medical system 100 is configured such that when the snare ring 126 is retracted around the IMD 110 and the driver body 104 rotates the snare 122 about the device axis LD, the snare 122 frictionally engages the IMD 110 (e.g., the IMD retrieval structure 111). When the snare 122 rotates about the device axis LD, the frictional engagement of the snare ring 126 and the IMD 110 can apply a torque to the IMD 110, causing the IMD 110 to rotate about the device axis LD. In examples, the snare 122 defines a textured surface (e.g., a surface defining a texture such as surface roughness and / or surface undulations) configured to increase frictional engagement with the IMD 110. In an example, the IMD 110 (eg, the IMD retrieval structure 111 ) defines one or more structural protrusions configured to increase frictional engagement with the IMD 110 and / or enhance force transfer from the snare loop 126 to the IMD 110 .

[0100] For example, Fig.12 A portion of the driver 102 and IMD 110 are illustrated, with the driver 102 and snare 122 proximal to the IMD 110. The snare 122 extends through the driver lumen 128 (eg, via the sheath lumen 156), with the snare loop 126 extending distal to the driver lumen opening 125. Fig.13 Example along Fig.12 FIG. 1 is a cross-sectional view of the IMD 110 taken along the cutting plane BB′, wherein the driver 102 and the snare 122 are on the proximal side of the IMD 110. Fig.13 , the distal direction D is out of the page, while the proximal direction P is into the page.

[0101] The snare ring 126 includes a snare surface 180 configured to contact the IMD 110 (e.g., the IMD retrieval structure 111) when the snare ring 126 is contracted about the device axis LD and about the IMD 110. The snare surface 180 defines a textured surface. The textured surface can define, for example, a surface roughness or an undulating surface. The surface roughness can be characterized by, for example, a profile roughness parameter (e.g., Ra, Rz, Rq, or another roughness parameter) that indicates a deviation from an ideal surface. The snare surface 180 can be configured such that when the snare ring 126 is tightened about the IMD 110, when the snare 122 causes the snare surface 180 to apply a snare-applied force to the IMD 110, the surface roughness enhances and / or increases the friction between the snare surface 180 and the IMD 110. The surface relief may be characterized in that the surface of the snare loop 126 is configured to exhibit a sinusoidal shape, a wavy shape, or other shape, wherein the average surface level defines a varying radial displacement from a snare axis extending within the snare loop body. For example, the surface relief may be defined by a coil defining the snare loop 126 and surrounding the snare axis, a plurality of ridges and / or depressions defined on the snare surface 180, or other surface features configured to define a varying radial displacement from the snare axis.

[0102] The snare 122 is configured to contact the snare surface 180 with the IMD 110 (e.g., the IMD retrieval structure 111) when the snare 122 engages the IMD 110. In an example, the IMD retrieval structure 111 defines a stem 182 ("IMD stem 182") supported by the IMD proximal portion 114 and a crown 184 ("IMD crown") supported by the IMD stem 182. The IMD crown 184 can be configured to limit and / or eliminate the tendency of the snare 122 to slide off the IMD retrieval structure 111 when the snare loop 126 is contracted around the IMD stem 182 and a proximal force (e.g., by a clinician) is applied to the snare 122 (e.g., the snare body 124) (e.g., when tension is applied to the snare 122). The IMD crown 184 can be configured such that when the snare loop 126 is retracted about the IMD stem 182 and a proximal force is applied (e.g., when tension is applied), the IMD crown 184 contacts the snare loop 126 to substantially stop translation of the snare loop 126 in a proximal direction. The IMD crown 184 can be configured such that when the IMD crown 184 contacts the snare loop 126 and a proximal force is applied (e.g., when tension is applied), the contact between the snare loop 126 and the IMD crown 184 causes the snare 122 to apply a proximal force to the IMD 110 (e.g., to the IMD retrieval structure 111).

[0103] In an example, IMD stem 182 defines a stem surface 186 that at least partially surrounds device axis LD. IMD crown 184 can define a crown surface 188 that at least partially surrounds device axis LD. Stem surface 186 and / or crown surface 188 can be a portion of IMD surface 161 ( Figures 5 to 11 ). In an example, the crown surface 188 defines a greater radial extension from the device axis LD than the shaft surface 186. For example, the shaft surface 186 may define a shaft radial displacement from the device axis LD to the shaft surface 186, and the crown surface 188 may define a crown radial displacement from the device axis LD. The crown radial displacement may be greater than the shaft radial displacement. In an example, the crown radial displacement and / or the shaft radial displacement are substantially perpendicular to the device axis LD. In an example, the shaft surface 186 defines a shaft perimeter P1 that extends at least partially around the device axis LD. The crown surface 188 may define a crown perimeter P2 that extends at least partially around the device axis LD. In an example, the shaft perimeter P1 and / or the crown perimeter P2 are substantially perpendicular to the device axis LD. The shaft perimeter P1 and / or the crown perimeter P2 may be examples of a structural perimeter PS ( Figures 5 to 11 ).

[0104] As previously described, the snare 122 can be translated distally from the driver distal end 108 (e.g., via the driver lumen 128 and / or the sheath lumen 156) such that the snare loop 126 surrounds a portion of the IMD 110 (e.g., the IMD retrieval structure 111). As the snare 122 is translated distally from the driver distal end 108, the snare 122 can receive a portion of the IMD 110 within the loop 152. The snare sheath 154 can be translated distally in a sliding manner within the driver lumen 128 relative to the snare body 124 and / or the snare loop 126 to retract the snare loop 126 around the IMD 110. In addition to or in lieu of translation of the snare sheath 154, the driver body 104 and the head section 106 can translate distally relative to the snare body 124 and / or the snare loop 126 to retract the snare loop 126 about the IMD 110. When the snare 122 engages the IMD 110, the driver body 104 and the head section 106 can translate substantially over the snare 122 such that the snare 122 substantially guides the head section 106 to a position between the first snare portion 130 and the IMD 110 (e.g., the IMD crown 184).

[0105] For example, Fig.14 The snare loop 126 is illustrated as being contracted around the IMD shaft 182 when the head section 106 engages the IMD crown 184 . Fig.15 Example along Fig.14FIG. 1 is a cross-sectional view of the IMD 110 taken along the cutting plane CC′, wherein the head section 106 is engaged with the IMD crown 184. Fig.15 , the distal direction D is out of the page, while the proximal direction P is into the page.

[0106] The snare 122 extends through the driver lumen opening 125 when the snare ring 126 (e.g., the second snare portion 132) snares the IMD shaft 182 and applies a snare-applied force FS to the IMD shaft 182. The snare-applied force FS applied by the second snare portion 132 causes the first snare portion 130 to substantially press the head segment 106 against the IMD crown 184, resulting in the head segment 106 applying a contact force FC to the IMD crown 184. The driver lumen opening 125 can substantially redirect the force applied on the snare 122 (e.g., applied by a clinician) from a first direction substantially parallel to the longitudinal axis L to a second direction defining an oblique angle to the longitudinal axis L, such that the redirected force causes the second snare portion to apply the snare-applied force FS to the IMD shaft 182 in a direction oblique to the longitudinal axis L. The snare-applied force FS can substantially pull the IMD crown 184 into the head segment 106 , such that the head segment 106 applies a contact force FC to the IMD crown 184 .

[0107] When the snare 122 substantially pulls the IMD crown 184 into the head segment 106, the snare 122 (e.g., the first snare portion 130) can substantially place the head segment 106 in a compressed state between the first snare portion 130 and the IMD crown 184. The head segment 106 can be configured to apply a first reaction force (e.g., a reaction force substantially equal to and opposite to the contact force FC) to the first snare portion 132 in response to the compression. Similarly, when the second snare portion 132 applies the snare-applied force FS to the IMD stem 182, the snare 122 can be configured such that the IMD stem 182 applies a second reaction force to the second snare portion 132. The first reaction force and the second reaction force can act in substantially opposite directions such that the first reaction force and the second reaction force place the snare 122 (e.g., the snare loop 126) in a tensioned state.

[0108] The snare surface 180 can be configured to contact the stem surface 186 when the snare loop 126 is retracted around the IMD stem 182. The snare surface 180 can be configured such that the textured surface of the snare surface 180 generates a friction force between the snare surface 180 and the stem surface 186 when the snare loop 126 is retracted around the stem surface 186. The magnitude of the friction force can depend on the magnitude of the force FS applied by the snare. In an example, in addition to the friction force, the surface undulations of the snare surface 180 can substantially abut the stem surface 186, causing the force to be transferred from the snare 122 to the IMD stem 182. The extent to which the surface undulations transfer the force to the IMD stem 182 can depend on the magnitude of the force FS applied by the snare. In examples, the friction and / or bearing force applied by the snare surface 180 to the shaft surface 186 is sufficient to cause the snare 122 to substantially clamp the IMD shaft 182 such that rotation of the snare 122 and / or the driver body 104 about the device axis LD rotates the IMD 110 about the device axis LD.

[0109] For example, the snare 122 can be configured such that when the snare loop 126 is contracted around the IMD 110 (e.g., the IMD stem 182), a torque T4 applied to the snare 122 causes the snare 122 to rotate about the device axis LD. Under the influence of the snare-applied force FS, the snare surface 180 can generate an engagement force FE acting on the stem surface 186. In some examples, the engagement force FE includes a friction force (e.g., caused by a surface roughness) applied by the snare surface 180 on the stem surface 186. In some examples, the engagement force FE includes a force transmitted to the stem surface 186 by the undulations of the snare surface 180. The engagement force FE can cause the snare 122 to substantially clamp the IMD stem 182, such that the snare 122 applies a torque T5 to the IMD 110 (e.g., the IMD stem 182). The torque T5 can cause the IMD 110 to rotate about the device axis LD. In an example, the medical system 100 is configured such that when a torque T4 is applied to the snare 122 in a first rotational direction about the device axis LD, the snare 122 transmits a torque T5 to the IMD 110 in the first rotational direction about the device axis LD.

[0110] The snare 122 can be configured such that increasing the proximal force on the snare 122 (e.g., increasing the tension applied to the snare 122) increases the force FS applied by the snare such that the snare 122 substantially clamps the IMD 110 (e.g., the IMD stem 182). Increasing the proximal force on the snare 122 can increase the engagement force FE between the snare surface 180 and the stem surface 186 such that when the snare 122 is subjected to the torque T4, relative movement between the snare 122 and the IMD 110 (e.g., the IMD stem 182) is limited and / or substantially eliminated. Thus, the medical system 100 can be configured such that the tension applied to the snare 122 (e.g., applied by a clinician) generates an engagement force FE of sufficient magnitude to cause the snare 122 to apply the torque T5 to the IMD 110.

[0111] The driver body 104 can be configured to transmit the torque T4 to the snare 122. For example, when the snare 122 engages the IMD 110 (e.g., the IMD stem 182) and the driver body rotates about the device axis LD, the driver body 104 can be configured to apply the driver-applied force to the snare 122. The driver body 104 (e.g., the inner lumen wall defining the driver lumen 128) can act on the snare 122 (e.g., the first snare portion 130) to transmit the driver-applied force to the snare 122. The driver-applied force can generate the torque T4 on the snare 122. In an example, the snare 122 (e.g., the snare body 124) can be configured to be substantially locked on the driver body 104 to help the driver body 104 generate the torque T4. For example, an inner surface of the driver lumen 128 (e.g., an inner surface near the driver lumen opening 125) can define a structure that is configured to substantially abut the snare 122 when the driver body 104 is rotated about the longitudinal axis L, causing the driver body 104 to apply a force to the snare 122. The structure can be, for example, an inner surface recess that extends substantially radially away from the longitudinal axis L, and / or can be an inner surface protrusion that extends radially toward the longitudinal axis L. The driver body 104 can apply a force to the snare 122 by substantially transferring the force from the inner surface recess and / or the inner surface protrusion to the snare 122.

[0112] As previously described, when the snare 122 engages the IMD 110 (e.g., the IMD stem 182), a torque on the driver body 104 (e.g., applied by a clinician) can cause the longitudinal axis L to rotate (e.g., substantially revolve) about the device axis LD of the IMD 110. The rotation of the longitudinal axis L about the device axis LD can cause the driver body 104 to apply a driver-applied force to the snare 122, thereby generating a torque T4 on the snare 122. In some examples, the head section 106 can rotate about the longitudinal axis L and relative to the IMD 110 as the longitudinal axis L revolves about the device axis LD. In some examples, the head section 106 and the IMD 110 can remain substantially stationary relative to each other as the longitudinal axis L revolves about the device axis LD. For example, the contact force FC can cause the head section 106 and the IMD 110 to remain substantially stationary relative to each other as the longitudinal axis L revolves about the device axis LD. In some examples, the head section 106 can rotate about the longitudinal axis L and relative to the snare 122 (eg, the first snare portion 130 and / or other portions of the snare 122 ) as the longitudinal axis L revolves about the device axis LD.

[0113] In an example, the IMD stem 182 defines one or more structural protrusions, such as a structural protrusion 190 (e.g., a corner). The structural protrusion 190 can be configured to increase and / or enhance the engagement force FE when the snare surface 180 contacts the stem surface 186. In an example, the structural protrusion 190 defines a portion of the stem perimeter P1. In an example, at least a portion of the stem perimeter P1 defines a polygonal curve, and the structural protrusion 190 defines at least a portion of the polygonal curve. The stem perimeter P1 can define a polygon, such as, for example, a hexagon, an octagon, or other polygon. In some examples, at least a portion of the stem perimeter P1 defines a curved segment or a curved segment, and the structural protrusion 190 defines at least a portion of the curved segment or the curved segment. For example, when a portion of the structure perimeter P1 defines a curved or curved segment, this may mean that the curved or curved segment defines a first defined point, a second defined point, and a third defined point, the first defined point defining a first defined radial displacement from the longitudinal axis L, the second defined point defining a second defined radial displacement from the longitudinal axis L, and the third defined point defining a third defined radial displacement from the longitudinal axis L, wherein the second defined radial displacement is greater than the first defined radial displacement and the third defined radial displacement. In an example, the second defined point is located between the first defined point and the third defined point.

[0114] The structural protrusion 190 can be configured to substantially abut a portion of the snare surface 180 (e.g., an undulation of the snare surface 180) when the snare surface 180 is rotated about the device axis LD. The structural protrusion 190 can be configured such that the portion of the snare surface 180 transmits at least a portion of the engagement force FE to the IMD 110 as a contact force on the structural protrusion 190. The structural protrusion 190 can define a bearing surface that is configured to contact the snare surface 180 when the snare surface 180 transmits the contact force. In an example, the bearing surface is configured such that the contact force includes one or more force components acting on the bearing surface in a direction that is substantially non-parallel to the bearing surface. For example, the bearing surface can be configured such that the snare surface 180 exerts a contact force having a force component that is substantially normal to the bearing surface and / or having a force component that acts on the bearing surface in a direction that is oblique to the bearing surface. In an example, when the snare surface 180 applies a contact force to the structural protrusion 190, the bearing surface is used to minimize and / or limit relative movement between the snare surface 180 and the structural protrusion 190, so that the snare 122 substantially clamps the IMD shaft 182. In an example, the medical system 100 is configured such that an increase in the force FS applied by the snare increases the contact force transmitted from the snare surface 180 to the structural protrusion 190. In some examples, the undulations of the snare surface 180 are configured to contact the bearing surface of the structural protrusion 190 to transmit the contact force.

[0115] In an example, IMD stem 182 defines a plurality of structural protrusions that are substantially circumferentially arranged around device axis LD. For example, in addition to structural protrusion 190, IMD stem may further define structural protrusion 191, structural protrusion 192, structural protrusion 193, structural protrusion 194, and / or structural protrusion 195 ( Fig.13). Each of the structural protrusions 191, 192, 193, 194, 195 can be configured similarly to the structural protrusion 190. For example, each of the structural protrusions 191, 192, 193, 194, 195 can define a separate portion of the stem perimeter P1. Each of the structural protrusions 191, 192, 193, 194, 195 can define a separate polygonal curve defined by the stem perimeter P1. Each of the structural protrusions 191, 192, 193, 194, 195 can define a curved segment or a curved segment defined by the structural perimeter P1. Each of the structural protrusions 191, 192, 193, 194, 195 can include a separate bearing surface configured to receive a separate contact force from the snare surface 180, such that one or more of the structural protrusions 191, 192, 193, 194, 195 can be used to minimize and / or limit relative movement between the snare 122 and the IMD stem 182. In an example, the protrusions 190, 191, 192, 193, 194, 195 are arranged such that each of the protrusions 190, 191, 192, 193, 194, 195 extends in a direction radially outward from the device axis LD.

[0116] Fig.16 Illustrated is a perspective view of an exemplary IMD 110 defining a plurality of structural protrusions arranged circumferentially about a device axis LD. Fig.17 A perspective view of an exemplary IMD 110 is illustrated that defines a plurality of structural protrusions and includes a pin 196 supported by an IMD retrieval structure 111 (eg, IMD crown 184). Fig.16 and Fig.17 Structural protrusions 190, 191, 192, and 195 are illustrated as being defined around the perimeter P1 of the stem. Fig.16 and Fig.17 In the embodiment, IMD 110 may include additional structural protrusions (e.g., hidden in Fig.16 and Fig.17 The snare ring 126 can be retracted around the IMD shaft 182 such that the plurality of protrusions serve to minimize and / or limit relative movement between the snare 122 and the IMD shaft 182 such that the snare 122 can transmit torque to rotate the IMD 110 substantially about the device axis LD. The pin 196 is configured to transmit a force applied to the pin 196 to at least the IMD housing 175 such that the medical system 100 and / or another medical system can change the position of the IMD 110 by engaging the pin 196.

[0117] References Figures 5 to 7, the operating circuit system 178 may include fixed-function circuit systems and / or programmable operating circuit systems. In an example, the operating circuit system 178 may include circuit systems configured to perform one or more functions of the operating circuit system 178, such as treatment delivery circuit systems, sensing circuit systems, processing circuit systems, switching circuit systems, communication circuit systems, and / or other circuit systems. The operating circuit system 178 and other processors, processing circuit systems, controllers, control circuit systems, etc. described herein may include any combination of the following: integrated circuit systems, discrete logic circuit systems, analog circuit systems, such as one or more microprocessors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), or field programmable gate arrays (FPGAs). In some examples, the operating circuit system 178 includes multiple components, such as one or more microprocessors, one or more DSPs, one or more ASICs, or one or more FPGAs, as well as any combination of other discrete or integrated logic circuit systems and / or analog circuit systems.

[0118] Functions attributed to the operating circuit system 178 may be embodied as software, firmware, hardware, or any combination thereof. The operating circuit system 178 may include, for example, various capacitors, transformers, switches, etc. configured to perform the functions of the operating circuit system 178. In an example, the operating circuit system 178 may be configured to communicate with another device (such as a patient input / output device, a clinician input / output device, and / or other devices). The operating circuit system 178 may include any suitable hardware, firmware, software, or any combination thereof for communicating with another device. In addition, the operating circuit system 178 may communicate with a networked computing device and / or a computer network. In an example, the operating circuit system 178 and / or other circuit systems of the medical system 100 are configured to deliver stimulation signals to the electrodes 172, 174, 176 and / or other electrodes and / or sensors within or outside the medical system 100 and / or receive sensing signals from them. The operating circuit system 178 may be configured to provide electrical signals to the electrodes 172, 174, 176, such as pacing therapy. The operating circuitry 178 may be configured to receive electrical signals, such as sensed cardiac electrical signals, from the electrodes 172 , 174 , 176 .

[0119] The medical system 100 (e.g., the operating circuit system 178) may also include a memory configured to store program instructions (such as software), which may include one or more program modules that can be executed by the operating circuit system 178. The program instructions may be embodied in software and / or firmware. The memory may include any volatile medium, non-volatile medium, magnetic medium, optical medium, or electrical medium, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), electrically erasable programmable ROM (EEPROM), ferroelectric RAM (FRAM), flash memory, or any other digital medium. In some examples, the memory includes computer-readable instructions that, when executed by the processing circuit system 178, cause the operating circuit system 178 to perform the various functions described herein and / or other functions of the operating circuit system 178.

[0120] The IMD housing 175 can encapsulate the operating circuit system 178 and / or other circuits within the medical system 10. The IMD housing 175 can be configured to isolate the operating circuit system 178 and / or other circuit systems from the environmental fluid that contacts the outer surface of the IMD housing 175. In an example, the IMD housing 175 is configured to hermetically seal the enclosure defined by the IMD 110 and retain the operating circuit system 178 and / or other circuit systems. The IMD housing 175 can be configured to define a shape that is easily accepted by the patient's body while minimizing patient discomfort. For example, the IMD housing 175 can define a substantially cylindrical shape with a cylindrical sidewall. In other examples, the IMD housing 175 can define a substantially rectangular or other non-cylindrical shape. The IMD housing 175 can define a shape in which the corners and edges are designed to have a relatively large radius so as to present a housing with an outer surface with a smooth contour. In an example, the attachment member 118 is coupled to the IMD housing 175.

[0121] As used herein, when a first part of a system (e.g., medical system 100) supports a second part of the system, this means that when the second part causes a first force to be applied to the first part, the first part causes a second force to be applied to the second part in response to the first force. The first force and / or the second force can be a contact force and / or a remote force. For example, the first force and / or the second force can be a mechanical force, a magnetic force, a gravity force, or some other type of force. The first part of the system can be a part of the system or a part of a component of the system. The second part of the system can be another part of the system or another part of the same component or a different component. In some examples, when the first part of the system supports the second part of the system, this can mean that the second part is mechanically supported by the first part and / or mechanically connected to the first part.

[0122] Fig.18The technique of applying torque using the medical system 100 is exemplified in Figures 1 to 17 The technology is described with reference to medical system 100 , but in other examples, the technology may be applied to other medical systems.

[0123] The technique includes engaging the IMD 110 with a snare 122 configured to apply a force to the IMD 110 such that the head section 106 of the driver 102 applies a contact force FC to the IMD 110 (1502). In some examples, the snare 122 engages the IMD 110 using a snare loop 126. The snare loop 126 can apply a proximal force to the IMD 110 when a proximal force (e.g., by a clinician) is applied to a snare body 124 supporting the snare loop 126. In an example, the snare body 124 and / or the snare loop 126 extend through a driver lumen 128 and a driver lumen opening 125 defined by the driver body 104 of the driver 102. The snare loop 126 can at least partially collapse (e.g., around the IMD 110) when the snare body 124 translates in a sliding manner within the driver lumen 128. In an example, the snare sheath 154 translates (e.g., translates distally) relative to the snare body 124 to shrink the snare loop 126 around the IMD 110. In an example, the head segment 106 applies a contact force FC to the retrieval structure 111 of the IMD 110. In an example, the head segment 106 can translate distally along the snare 122 to be positioned between the first snare portion 130 and the IMD 110.

[0124] When the second snare portion 132 applies a force to the IMD 110, the snare 122 can substantially compress the head segment 106 between the first snare portion 130 and the IMD 110. When the snare 122 applies a force to the IMD 110, the snare 122 can apply a snare-applied force FS to the IMD 110 (IMD retrieval structure 111). The snare 122 can apply the snare-applied force FS using the second snare portion 132. When the second snare portion 132 applies the snare-applied force FS to the IMD 110, the first snare portion 130 substantially compresses the head segment 106 between the first snare portion 130 and the IMD retrieval structure 111, causing the head segment 106 to apply a contact force FC (e.g., a reaction force) to the IMD retrieval structure 111.

[0125] The technique includes applying a torque T1 (1504) to the head segment 106 using the driver body 104 of the driver 102. The driver body 104 can apply the torque T1 to the head segment 106 to rotate the head segment 106 within an anatomical volume (e.g., a ventricle) defined by the patient. The torque T1 can cause the head segment 106 to slide and / or roll substantially around a structural perimeter PS (e.g., an IMD retrieval structure 111) defined by the IMD 110. In an example, the head segment 106 slides and / or rolls substantially around the structural perimeter PS to insert the protrusions 160, 190 into the device recesses 162, 163, 165, 167, 171, 173 or device slots 164, 177 defined by the IMD 110.

[0126] The technique includes using the head section 106 to transfer torque T1 from the driver body 104 to the IMD 110 (e.g., the IMD retrieval structure 111) when the snare 122 causes the head section 106 to apply a contact force FC and the protrusions 160, 190 are inserted into the device recesses 162, 163, 165, 167, 171, 173 or the device slots 164, 177. The head section 106 can transfer at least one of the head-applied force FH1 or the head-applied force FH2 to the IMD 110 to transfer torque T1. In an example, the protrusions 160, 190 transfer the head-applied force FH1 to the device recesses 162, 163, 165, 167, 171, 173. In an example, the protrusions 160, 190 transfer the head-applied force FH2 to the device slots 164, 177.

[0127] When the head segment 106 transmits torque from the head segment 106 to the IMD 110, the head segment 106 can rotate the IMD 110 about a device axis LD defined by the IMD 110. In an example, when the head segment 106 rotates the IMD 110 about the device axis LD, the head segment 106 disengages an attachment member 118 of the IMD 110 from tissue within or near a target site 120 in the patient. In an example, when the head segment 106 rotates the IMD 110 about the device axis LD, the head segment 106 engages an attachment member 118 of the IMD 110 with tissue within or near the target site 120. In an example, when the head segment 106 rotates the IMD 110 about the device axis LD, the head segment 106 rotates one or more device components of the IMD 110 about the device axis LD.

[0128] Fig.19 Additional techniques for applying torque using the medical system 100 are exemplified in Figures 1 to 17 The technology is described with reference to medical system 100, but in other examples, the technology can be applied to other medical systems. Fig.19 technology to replace Fig.18 technology or as a complement to it.

[0129] The technique includes applying tension to the snare 122 when the snare surface 180 frictionally engages the IMD 110 (1602). The technique may include applying a force to the snare 122 to apply tension. In some examples, the snare surface 180 is part of the snare loop 126. In an example, the driver 102 (e.g., the head section 106) applies the force to the snare 122. The driver 102 can be positioned between the first snare portion 130 and the IMD 110. In an example, the driver 102 applies the force to the snare 122 by applying a torque T4 on the snare 122 about the device axis LD.

[0130] The technique includes applying a torque (1604) on the IMD 110 by applying an engagement force FE from the snare 122 to the IMD 110 when the driver 102 applies a force to the snare. In an example, the technique includes contracting the snare ring 126 around the IMD 110 by slidingly translating the snare body 124 within the driver lumen 128 and / or translating the snare sheath 154. In an example, the head section 106 translates distally along the snare 122 to be positioned between the first snare portion 130 and the IMD 110. In an example, the snare 122 applies the snare-applied force FS to the IMD 110 using the second snare portion 132.

[0131] The snare applied force FS can cause contact between the snare surface 180 and the IMD 110 (e.g., the shaft perimeter P1 and / or the crown perimeter P2). The snare surface 180 can include a textured surface that increases the engagement force FE as the snare applied force FS increases. In some examples, the technique includes applying a force to the snare 122 (e.g., by a clinician) to increase the snare applied force FS, thereby increasing the engagement force FE.

[0132] When the snare 122 frictionally engages the IMD 110, the snare 122 can substantially surround the shaft perimeter P1 and / or the crown perimeter P2. The shaft perimeter P1 and / or the crown perimeter P2 can substantially surround the device axis LD. In an example, when the snare 122 frictionally engages the IMD 110, the second snare portion 132 substantially surrounds the shaft perimeter P1 and / or the crown perimeter P2. In an example, the IMD retrieval structure 111 defines retrieval structure protrusions 190, 191, 192, 193, 194, 194. When the second snare portion 132 transmits the torque T4 to the IMD 110, the structural protrusions 190, 191, 192, 193, 194, 195 can function to increase and / or enhance the engagement force FE.

[0133] When the snare 122 transmits the torque T4 to the IMD 110, the snare 122 may rotate the IMD 110 about a device axis LD defined by the IMD 110. In an example, when the snare 122 rotates the IMD 110 about the device axis LD, the snare 122 disengages the attachment member 118 of the IMD 110 from tissue within or near a target site 120 in the patient's body. In an example, when the snare 122 rotates the IMD 110 about the device axis LD, the snare 122 engages the attachment member 118 of the IMD 110 with tissue within or near the target site 120. In an example, when the snare 122 rotates the IMD 110 about the device axis LD, the snare 122 rotates one or more device components of the IMD 110 about the device axis LD.

[0134] Fig.18 and / or Fig.19 The technique may include positioning the snare 122, the head segment 106, and / or at least a portion of the driver body 104 within an anatomical volume of a patient using a delivery catheter 134. In an example, the delivery catheter 134 positions the snare 122, the head segment 106, and / or at least a portion of the driver body 104 within a chamber of the patient's heart. The delivery catheter 134 may deliver the snare 122, the head segment 106, and / or at least a portion of the driver body 104 through the patient's vasculature. In an example, the snare 122, the head segment 106, and / or at least a portion of the driver body 104 are positioned within a delivery container volume 142 defined by the delivery catheter 134. The driver body 104 may position the head segment 106 within the delivery container volume 142 by translating through the delivery catheter lumen 144. The snare 122 may be positioned within the delivery container volume by translating through the delivery catheter lumen 144.

[0135] The present disclosure includes the following embodiments.

[0136] Embodiment 1: A medical system comprising: a driver configured to apply torque on an implantable medical device within an anatomical volume defined by a patient's body, the driver comprising a head segment, wherein the driver comprises a lumen extending through at least a portion of the head segment, the lumen extending to a lumen opening defined by the head segment, and wherein the head segment or a protrusion thereof is configured to be inserted into a device recess or a device slot of the implantable medical device; and a snare configured to translate in a sliding manner within the lumen and through the lumen opening to engage the implantable medical device, wherein the snare is configured to cause the head segment to apply a contact force on the implantable medical device when the snare engages the implantable medical device and applies a force on the implantable medical device, and wherein the head segment is configured to transfer torque from the driver body to the implantable medical device when the snare causes the contact force and the protrusion is inserted into the device recess or the device slot.

[0137] Embodiment 2: The medical system of Embodiment 1, wherein the lumen defines a longitudinal axis, and wherein the head segment defines a head perimeter about the longitudinal axis, and wherein the protrusion defines at least a portion of the head perimeter.

[0138] Embodiment 3: The medical system of Embodiment 2, wherein the head perimeter is substantially perpendicular to the longitudinal axis.

[0139] Embodiment 4: The medical system of any one of Embodiments 1 to 3, wherein the protrusion is configured to transmit the torque to a retrieval structure defined by the implantable medical device.

[0140] Embodiment 5: A medical system according to any one of embodiments 1 to 4, wherein the snare is configured to apply the force to the implantable medical device when a proximal force substantially parallel to the longitudinal axis according to embodiment 2 is applied to the snare, and wherein the head segment is configured to apply the contact force in a direction substantially perpendicular to the longitudinal axis according to embodiment 2.

[0141] Embodiment 6: A medical system according to any one of Embodiments 1 to 5, wherein the snare is configured to at least one of the following: when the snare increases the force applied to the implantable medical device, the head section increases the contact force, or when the snare reduces the force applied to the implantable medical device, the head section reduces the contact force.

[0142] Embodiment 7: A medical system according to any one of Embodiments 1 to 6, wherein when the driver body applies torque on the head segment and the head segment applies the contact force on the implantable medical device, the head segment is configured to at least one of roll or slide substantially around the structural periphery of the implantable medical device so that the protrusion is inserted into the device recess or the device slot, wherein when the head segment rolls or slides substantially around the structural periphery, the head segment exhibits relative rotation relative to the implantable medical device.

[0143] Embodiment 8: The medical system of any one of Embodiments 1 to 7, wherein the longitudinal axis defines one or more line segments, wherein the one or more line segments include at least one of a straight line segment, a curved line segment, or a curved line segment.

[0144] Embodiment 9: A medical system according to any one of Embodiments 1 to 8, wherein the head segment defines a plurality of protrusions, wherein each protrusion is configured to be inserted into the device recess or the device slot of the implantable medical device, and wherein the head segment is configured to transfer the torque from the driver body to the implantable medical device when any one of the plurality of protrusions is inserted into the device recess or the device slot.

[0145] Embodiment 10: The medical system of any one of Embodiments 1 to 9, wherein when the driver body rotates about the longitudinal axis of Embodiment 2, the head section is configured to rotate about the longitudinal axis of Embodiment 2.

[0146] Embodiment 11: The medical system of any one of Embodiments 1 to 10, wherein the snare is configured such that when the head segment is rotated about the longitudinal axis of Embodiment 2, the head segment applies the contact force.

[0147] Embodiment 12: A medical system according to any one of Embodiments 1 to 11, wherein the protrusion is configured to at least one of the following: exert a head transfer force on the device recess when the protrusion is inserted into the device recess and the head section transfers the torque from the driver body to the implantable medical device, or exert the head transfer force on the device slot when the protrusion is inserted into the device slot and the head section transfers the torque from the driver body to the implantable medical device.

[0148] Embodiment 13: The medical system of Embodiment 12, wherein the head segment is configured to apply the head transmission force in a direction substantially perpendicular to the longitudinal axis when the driver transmits the torque in a rotational direction about the longitudinal axis.

[0149] Embodiment 14: The medical system of any one of Embodiments 1 to 13, wherein at least a portion of the perimeter defines a polygonal curve, and wherein the protrusion defines at least a portion of the polygonal curve.

[0150] Embodiment 15: A medical system according to Embodiment 14, wherein the perimeter defines a polygon.

[0151] Embodiment 16: The medical system of Embodiment 14 or Embodiment 15, wherein the perimeter defines a rectangle.

[0152] Embodiment 17: According to any one of embodiments 1 to 16, the medical system also includes the implantable medical device, wherein the implantable medical device includes a retrieval structure that defines at least one of the device recess or the device slot, wherein the retrieval structure defines a device axis and a structure periphery around the device axis, and wherein at least one of the device recess or the device slot defines at least a portion of the structure periphery.

[0153] Embodiment 18: The medical system of Embodiment 17, wherein the retrieval structure defines a plurality of device recesses, wherein each individual device recess defines a separate portion of the perimeter of the structure.

[0154] Embodiment 19: The medical system of Embodiment 17 or Embodiment 18, wherein the retrieval structure defines a plurality of slots, wherein each individual slot defines a single portion of the perimeter of the structure.

[0155] Embodiment 20: A medical system according to any one of embodiments 17 to 19, wherein the retrieval structure defines the device recess and the narrow groove, wherein the narrow groove defines a first minimum radial displacement from the device axis and the device recess defines a second minimum radial displacement from the device axis, and wherein the first minimum radial displacement is less than the second minimum radial displacement.

[0156] Embodiment 21: A medical system according to any one of Embodiments 17 to 20, wherein the retrieval structure defines the device recess and the slot, wherein when the protrusion is inserted into the device recess, the head section defines a first maximum radial displacement from the device axis, and when the protrusion is inserted into the slot, the head section defines a second maximum radial displacement, and wherein the second maximum radial displacement is less than the first maximum radial displacement.

[0157] Embodiment 22: A medical system according to any one of Embodiments 17 to 21, wherein the retrieval structure defines the device recess and the slot, wherein the device recess is configured to receive a first volume of the head segment when the protrusion is inserted into the device recess, and the slot is configured to receive a second volume of the head segment when the protrusion is inserted into the slot, and wherein the second volume is greater than the first volume.

[0158] Embodiment 23: A medical system according to any one of embodiments 17 to 22, wherein the retrieval structure defines the device recess and the narrow groove, wherein the device recess defines a first segment of the periphery of the structure, and the narrow groove defines a second segment of the periphery of the structure, wherein the first segment defines a first segment length, the second segment defines a second segment length, and wherein the second segment length is greater than the first segment length.

[0159] Embodiment 24: The medical system of any one of Embodiments 17 to 23, wherein the retrieval structure defines a first slot and a second slot on the structure perimeter, and wherein the retrieval structure defines at least one device recess on the structure perimeter between the first slot and the second slot.

[0160] Embodiment 25: A medical system according to any one of embodiments 17 to 24, wherein the retrieval structure defines the narrow slot, and wherein the head segment defines a head support surface, the head support surface is configured to transfer the head transfer force according to embodiment 12 to the narrow slot, and wherein the head support surface is configured to be substantially perpendicular to the head transfer force according to embodiment 12.

[0161] Embodiment 26: A medical system according to any one of embodiments 17 to 25, wherein the retrieval structure defines the narrow groove, and wherein the narrow groove defines a narrow groove support surface, the narrow groove support surface is configured to receive the head-transmitted force according to embodiment 12, and wherein the narrow groove support surface is configured to be substantially perpendicular to the head-transmitted force according to embodiment 12.

[0162] Embodiment 27: The medical system of any one of Embodiments 17 to 26, wherein the surface defining the device recess or the device slot is configured to transmit the head-transmitted force of Embodiment 12 to the retrieval structure to rotate the retrieval structure about the device axis.

[0163] Embodiment 28: A medical system according to any one of Embodiments 17 to 27, wherein the implantable medical device includes a fixation element configured to perform at least one of engaging with or disengaging from the patient tissue when the implantable medical device is rotated about the device axis.

[0164] Embodiment 29: According to any one of embodiments 1 to 28, the medical system further includes a delivery catheter having a delivery container, wherein the delivery container defines a container volume configured to receive at least a portion of the implantable medical device, wherein the delivery catheter defines a delivery lumen and a delivery lumen opening, wherein the delivery lumen opening opens to the container volume, and wherein the drive body is configured to translate in a sliding manner within the delivery lumen and pass through the delivery lumen opening.

[0165] Embodiment 30: The medical system of Embodiment 29, wherein the container volume is configured to receive the head segment and the portion of the implantable medical device when the protrusion is inserted into the device recess or the device slot.

[0166] Example 31: The medical system of Example 30, wherein the driver is configured to rotate relative to the delivery container when the container volume receives the head segment and the portion of the implantable medical device, the protrusion is inserted into the device recess or the device slot, and the driver applies the torque to the implantable medical device.

[0167] Embodiment 32: The medical system of any one of Embodiments 29 to 31, wherein the delivery catheter is configured to deliver at least the head segment, a portion of the driver body, and a portion of the snare through the patient's vasculature.

[0168] Embodiment 33: The medical system of any one of Embodiments 1 to 32, wherein the head segment is configured to define the protrusion when the snare causes the head segment to apply the contact force to the device recess or the device slot.

[0169] Embodiment 34: The medical system of Embodiment 33, wherein the head segment comprises a material configured to deform to define the protrusion when the snare causes the head segment to apply the contact force to the device recess or the device slot.

[0170] Embodiment 35: A medical system according to Embodiment 34, wherein the material is at least one of a thermoplastic elastomer or a liquid silicone rubber).

[0171] Embodiment 36: The medical system of Embodiment 34 or Embodiment 35, wherein the material has a Shore A hardness greater than or equal to about 10 and less than or equal to about 100.

[0172] Embodiment 37: The medical system of any one of Embodiments 1 to 36, wherein the driver comprises a driver body supporting the head section.

[0173] Embodiment 38: The medical system of Embodiment 37, wherein the lumen extends through at least a portion of the driver body.

[0174] Embodiment 39: A medical system comprising: a driver configured to apply torque to an implantable medical device within an anatomical volume defined by a patient's body, the driver comprising a head segment, wherein the driver further comprises a lumen extending through at least a portion of the head segment, the lumen extending to a lumen opening defined by the head segment; and a snare configured to translate in a sliding manner within the lumen and through the lumen opening to engage the implantable medical device, wherein the snare is configured to cause the head segment to apply a contact force to the implantable medical device when the snare engages the implantable medical device and applies a force on the implantable medical device, wherein the head segment is configured to deform and generate a friction force with the implantable medical device when the snare generates the contact force and the driver body applies the torque on the head segment, and wherein the head segment is configured to transmit the torque to the implantable medical device when the head segment generates the friction force.

[0175] Embodiment 40: The medical system of Embodiment 39, wherein the material is at least one of a thermoplastic elastomer or a liquid silicone rubber.

[0176] Embodiment 41: The medical system of Embodiment 39 or Embodiment 40, wherein the material has a Shore A hardness greater than or equal to about 10 and less than or equal to about 100.

[0177] Embodiment 42: The medical system of any one of Embodiments 39 to 41, wherein the driver comprises a driver body supporting the head section.

[0178] Embodiment 43: The medical system of Embodiment 42, wherein the lumen extends through at least a portion of the driver body.

[0179] Embodiment 44: A medical system, the medical system comprising: a snare, the snare comprising a snare ring, the snare ring being configured to at least partially surround an implantable medical device within an anatomical volume defined by a patient's body, wherein the snare ring comprises a snare surface defining a textured surface; an actuator, the actuator comprising an actuator body having a lumen extending through at least a portion thereof and a lumen opening opening into the lumen, wherein the snare extends through the actuator lumen and the lumen opening, wherein the snare is configured to at least partially surround the implantable medical device within the snare ring and and contracting around the implantable medical device to apply the snare-applied force to the implantable medical device when tension is applied to the snare, wherein the snare surface is configured to frictionally engage the implantable medical device using the textured surface when the snare ring applies the snare-applied force on the implantable medical device, wherein the actuator body is configured to apply a force to the snare when the snare surface frictionally engages the implantable medical device, and wherein the snare is configured to apply the torque to the implantable medical device using the frictional engagement when the actuator applies the force on the snare.

[0180] Embodiment 45: The medical system of Embodiment 44, wherein the lumen defines a longitudinal axis and the tension is substantially parallel to the longitudinal axis.

[0181] Embodiment 46: The medical system of Embodiment 45, wherein the snare is configured to apply the force applied by the snare in a direction substantially perpendicular to the longitudinal axis.

[0182] Embodiment 47: The medical system of Embodiment 46, wherein the actuator body is configured to cause the snare to apply the snare-applied force in a direction substantially perpendicular to the longitudinal axis when the actuator body is positioned between the snare and the implantable medical device.

[0183] Embodiment 48: A medical system according to any one of Embodiments 44 to 47, wherein the driver body is configured to apply the contact force applied by the driver to the implantable medical device when the driver is positioned between the snare and the implantable medical device and the snare ring applies the snare-applied force to the implantable medical device.

[0184] Embodiment 49: The medical system of Embodiment 48, wherein the snare is configured to apply the snare-applied force in a first direction, wherein the driver is configured to apply the driver-applied contact force in a second direction, and wherein the second direction is opposite to the first direction.

[0185] Embodiment 50: The medical system of any one of Embodiments 44 to 49, wherein the actuator body is configured to apply the force to the snare in a direction substantially perpendicular to the longitudinal axis of Embodiment 34.

[0186] Embodiment 51: The medical system of any one of Embodiments 44 to 50, wherein the snare is configured to cause frictional engagement with a retrieval structure of the implantable medical device when the driver applies the force to the snare to apply torque to the retrieval structure.

[0187] Example 52: A medical system according to any one of Examples 44 to 51, wherein the snare includes a distal portion including the snare loop and a proximal portion including the snare body, and wherein the snare loop is configured to apply the force applied by the snare when the tension is applied to the snare body.

[0188] Embodiment 53: The medical system of any one of Embodiments 44 to 52, wherein the snare surface has surface roughness that at least partially defines the textured surface.

[0189] Embodiment 54: The medical system of Embodiment 53, wherein the snare surface is configured such that when the snare applies the snare-applied force, the surface roughness generates an engagement force between the snare surface and the implantable medical device.

[0190] Embodiment 55: The medical system of any one of Embodiments 44 to 54, wherein the snare surface defines one or more surface reliefs that at least partially define the textured surface.

[0191] Embodiment 56: The medical system of Embodiment 55, wherein at least one surface contour defines a contoured surface configured to apply a contact force to the implantable medical device when the snare applies the snare-applied force and the actuator body applies the force to the snare.

[0192] Embodiment 57: According to any one of embodiments 44 to 56, the medical system also includes the implantable medical device, wherein the implantable medical device defines a retrieval portion, wherein the retrieval portion defines a device axis and a retrieval portion periphery around the device axis, wherein the snare is configured to at least partially surround the device axis when the snare is retracted around the implantable medical device, and wherein the snare is configured to frictionally engage at least a portion of the retrieval portion periphery using the textured surface.

[0193] Embodiment 58: The medical system of Embodiment 57, wherein the portion of the retrieval portion perimeter comprises one or more line segments, wherein the one or more line segments comprise at least one of a straight line segment, a curved line segment, or a curved line segment.

[0194] Example 59: The medical system of Example 57 or Example 58, wherein the retrieval portion defines a retrieval portion protrusion, the retrieval portion protrusion defining the portion of the retrieval portion periphery, wherein the retrieval portion protrusion is configured to frictionally engage with the snare surface when the snare frictionally engages the portion of the retrieval portion periphery.

[0195] Embodiment 60: The medical system of Embodiment 59, wherein the portion of the retrieval portion perimeter defines a curve, and wherein the retrieval portion protrusion defines at least a portion of the curve.

[0196] Embodiment 61: A medical system according to Embodiment 60, wherein the curve is a polygonal curve.

[0197] Embodiment 62: The medical system of any one of Embodiments 57 to 61, wherein the retrieval portion defines a plurality of retrieval portion protrusions, wherein each individual retrieval portion protrusion defines an individual portion of the retrieval portion perimeter.

[0198] Embodiment 63: The medical system of any one of Embodiments 57 to 62, wherein the retrieval portion perimeter defines a polygon.

[0199] Embodiment 64: The medical system of any one of Embodiments 46 to 63, wherein the driver comprises a driver body defining a distal portion and a proximal portion, and wherein the lumen extends through the distal portion and the proximal portion.

[0200] Example 65: A medical system according to any one of Examples 46 to 64, wherein when the snare at least partially surrounds the implantable medical device and the driver body translates in a distal direction relative to the snare, at least a portion of the driver is configured to be positioned between the snare and the implantable medical device.

[0201] Example 66: A medical system according to any one of Examples 46 to 65, wherein the snare is configured such that when the snare is contracted around the implantable medical device, a proximal force applied to the snare applies the tension to the snare, and wherein the force applied by the snare is a portion of the proximal force applied to the snare.

[0202] Example 67: A method comprising: engaging an implantable medical device using a snare, the snare extending through a lumen and a lumen opening defined by a driver body of a driver so that a head segment of the driver applies a contact force on the implantable medical device; applying a torque on the head segment using the driver body, wherein the head segment defines a protrusion configured to be inserted into a device recess or a device slot of the implantable medical device; and transmitting the torque from the head segment to the implantable medical device using the head segment when the snare generates the contact force and the protrusion is inserted into the device recess or the device slot.

[0203] Embodiment 68: The method of Embodiment 67, further comprising transmitting the torque to a retrieval structure defined by the implantable medical device.

[0204] Example 69: The method according to Example 67 or Example 68, further comprising increasing the force applied by the snare on the implantable medical device to increase the contact force.

[0205] Embodiment 70: The method of any one of Embodiments 67 to 69, further comprising reducing the force applied by the snare on the implantable medical device to reduce the contact force.

[0206] Example 71: According to any one of Examples 67 to 70, the method further includes: using the torque applied to the head segment to cause the head segment to roll or slide substantially around the structural periphery of the implantable medical device so that the protrusion is inserted into the device recess or the device slot.

[0207] Embodiment 72: A method system according to any one of Embodiments 67 to 71, wherein the protrusion is one of a plurality of protrusions defined by the head segment, and wherein inserting the protrusion into the device recess or the device slot includes inserting any one of the plurality of protrusions into the device recess or the device slot.

[0208] Embodiment 73: According to any one of embodiments 67 to 72, the method also includes rotating the head segment relative to the implantable medical device when the head segment applies the contact force.

[0209] Embodiment 74: According to any one of embodiments 67 to 73, the method further includes using the head segment to apply a head transfer force to the device recess when the protrusion is inserted into the device recess and the head segment transfers the torque to the implantable medical device.

[0210] Example 75: According to any one of Examples 67 to 74, the method also includes using the head segment to apply a head transfer force to the device slot when the protrusion is inserted into the device slot and the head segment transfers the torque to the implantable medical device.

[0211] Example 76: A method comprising: applying a force to a snare using a driver including a driver body defining a lumen and a lumen opening when a snare surface of the snare frictionally engages an implantable medical device, wherein the snare extends through the lumen and the lumen opening, and wherein the driver is positioned between the snare and the implantable medical device, and wherein the snare is configured to contract around the implantable medical device to apply a snare-applied force on the implantable medical device when a snare ring of the snare at least partially surrounds the implantable medical device and tension is applied to the snare; and applying a torque to the implantable medical device using the snare when the driver applies the force to the snare.

[0212] Embodiment 77: The method of Embodiment 76, wherein the lumen defines a longitudinal axis and the tension is substantially parallel to the longitudinal axis.

[0213] Embodiment 78: The method of Embodiment 77, wherein the snare applies the force applied by the snare in a direction substantially perpendicular to the longitudinal axis.

[0214] Embodiment 79: The method of Embodiment 78, wherein when the actuator body is positioned between the snare and the implantable medical device, the actuator body causes the snare to apply the force applied by the snare in a direction substantially perpendicular to the longitudinal axis.

[0215] Embodiment 80: A method according to any one of embodiments 76 to 79, wherein when the driver is positioned between the snare and the implantable medical device, the driver body applies a driver-applied contact force to the implantable medical device, and the snare ring applies the snare-applied force to the implantable medical device.

[0216] Embodiment 81: The method of Embodiment 80, wherein the snare applies the snare-applied force in a first direction, wherein the driver applies the driver-applied contact force in a second direction, and wherein the second direction is opposite to the first direction.

[0217] Embodiment 82: The method of any one of Embodiments 76 to 81, wherein the driver body applies the force on the snare in a direction substantially perpendicular to the longitudinal axis.

[0218] Embodiment 83: The method of any one of Embodiments 76 to 82, wherein when the driver applies the force to the snare, the snare causes frictional engagement with a retrieval structure of the implantable medical device to apply torque to the retrieval structure.

[0219] Example 84: A method according to any one of Examples 76 to 83, wherein the snare includes a distal portion comprising the snare loop and a proximal portion comprising a snare body, and wherein when the tension is applied to the snare body, the snare loop applies the force applied by the snare.

[0220] Embodiment 85: A method according to any one of Embodiments 76 to 84, wherein the implantable medical device defines a device axis and a structural perimeter surrounding the device axis, and wherein when the snare surface frictionally engages the implantable medical device, the snare engages a structural protrusion defined by the structural perimeter.

[0221] Example 86: The method of any one of Examples 76 to 85, further comprising applying a proximal force to the snare to apply the tension to the snare.

[0222] Various embodiments of the present disclosure have been described, and any combination of the described systems, operations, or functions is contemplated. These and other examples are within the scope of the following claims.

Claims

1. A medical system, comprising: a driver configured to exert a torque on an implantable medical device within an anatomical volume defined by a patient's body, the driver comprising a head section, wherein the driver includes a lumen extending through at least a portion of the head segment, the lumen extending to a lumen opening defined by the head segment, and wherein the head segment or the protrusion of the head segment is configured to be inserted into a device recess or a device slot of the implantable medical device; and a snare configured to slideably translate within the lumen and through the lumen opening to engage the implantable medical device, wherein the snare is configured such that when the snare engages the implantable medical device and applies a force on the implantable medical device, the head section applies a contact force to the implantable medical device, and Wherein the head section is configured to transfer torque from the driver body to the implantable medical device when the snare induces the contact force and the protrusion is inserted into the device recess or the device slot. 2 . The medical system of claim 1 , wherein the lumen defines a longitudinal axis, and wherein the head segment defines a head perimeter about the longitudinal axis, and wherein the protrusion defines at least a portion of the head perimeter. 3 . The medical system of claim 2 , wherein the snare is configured such that the head section applies the contact force when the head section rotates about the longitudinal axis.

4. The medical system of any one of claims 1 to 3, wherein the protrusion is configured to transmit the torque to a retrieval structure defined by the implantable medical device.

5. The medical system of any one of claims 1 to 4, wherein the snare is configured as at least one of the following: causing the head section to increase the contact force when the snare increases the force applied to the implantable medical device, or The head section is caused to reduce the contact force when the snare reduces the force applied to the implantable medical device.

6. A medical system according to any one of claims 1 to 5, wherein when the driver body applies a torque on the head segment and the head segment applies the contact force on the implantable medical device, the head segment is configured to at least one of roll or slide substantially around the structural periphery of the implantable medical device so that the protrusion is inserted into the device recess or the device slot, wherein when the head segment rolls or slides substantially around the structural periphery, the head segment exhibits relative rotation relative to the implantable medical device.

7. The medical system according to any one of claims 1 to 6, wherein the protrusion is configured as at least one of the following: When the protrusion is inserted into the device recess and the head section transfers the torque from the driver body to the implantable medical device, a head transfer force is exerted on the device recess, or The head transmitting force is exerted on the device slot when the protrusion is inserted into the device slot and the head section transmits the torque from the driver body to the implantable medical device.

8. The medical system of claim 7, wherein the head segment is configured to apply the head-transmitted force in a direction substantially perpendicular to the longitudinal axis of the lumen when the driver transmits torque in a rotational direction about the longitudinal axis of the lumen.

9. The medical system of any one of claims 1 to 8, wherein the head section defines a head perimeter, wherein at least a portion of the head perimeter defines a polygonal curve, and wherein the protrusion defines at least a portion of the polygonal curve.

10. The medical system according to any one of claims 1 to 9, further comprising the implantable medical device, wherein the implantable medical device includes a retrieval structure defining at least one of the device recess or the device slot, wherein the retrieval structure defines a device axis and a structure perimeter surrounding the device axis, and Wherein at least one of the device recess or the device slot defines at least a portion of a perimeter of the structure.

11. The medical system according to claim 10, wherein the retrieval structure defines the device recess and the slot, wherein the slot defines a first minimum radial displacement from the device axis and the device recess defines a second minimum radial displacement from the device axis, and The first minimum radial displacement is smaller than the second minimum radial displacement.

12. The medical system according to claim 11 or 12, wherein the retrieval structure defines the device recess and the slot, wherein the head section defines a first maximum radial displacement from the device axis when the protrusion is inserted into the device recess, and the head section defines a second maximum radial displacement when the protrusion is inserted into the slot, and The second maximum radial displacement is smaller than the first maximum radial displacement.

13. The medical system of any one of claims 10 to 12, wherein the retrieval structure defines a first slot and a second slot on the structure perimeter, and wherein the retrieval structure defines at least one device recess on the structure perimeter between the first slot and the second slot.

14. The medical system of any one of claims 1 to 13, wherein the driver comprises a driver body supporting the head section.

15. The medical system of claim 15, wherein the lumen extends through at least a portion of the driver body.

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