Devices, systems, and methods for placing anchors for artificial chordae - Patents.com

Abstract

An implantable device formed from a material that is not easily imageable and that may shift from a delivery configuration to a deployment configuration upon deployment is delivered and deployed using a deployment / delivery device having a sensor that generates a signal indicative of contact of the delivery / deployment device with tissue to ensure that the implantable device grips tissue upon deployment. The implantable device may be a tissue anchor having a claw that shifts from the delivery configuration to the deployment configuration. The sensor may be positioned along a distal end of the delivery / deployment device to indicate that the device has gripped tissue to ensure that the claw grips tissue upon deployment. The sensor may include at least three sensors that may be spaced apart from one another to indicate complete contact of the distal end of the delivery / deployment device with tissue. The sensor may optionally be aligned with the claw.

Description

[Technical Field]

[0001] The present disclosure relates generally to the field of implantable medical devices. Specifically, the present disclosure relates to medical devices, systems, and methods for delivering and deploying implantable devices. More specifically, the present disclosure relates to medical devices, systems, and methods for delivering and deploying anchors to secure engagement with and within cardiac tissue. [Background technology]

[0002] To avoid more complicated and invasive open-heart procedures, devices, systems, and methods for delivering and placing implantable devices using minimally invasive techniques, such as transluminal techniques, are desirable. For example, various techniques have been developed for cardiac procedures, such as repairing or replacing artificial chordae tendineae, involving securing the artificial chordae tendineae to cardiac tissue using transcatheter techniques without the need for open-heart surgery. Transcatheter or other forms of non-invasive procedures generally require simultaneous visualization of both the target anatomical structure and the implantation tool (the delivery and placement tool, as well as the implant itself). Unfortunately, current visualization tools cannot distinguish between tissue and inorganic materials (e.g., metals, polymers, ceramics, etc.) from which the implantation tool is made. While ultrasound readily identifies tissue, it has difficulty with many foreign bodies, particularly metallic components commonly implemented in medical devices and associated mechanisms and systems. Consequently, devices and systems tend to cast shadows under fluoroscopy, obstructing the view of the targeted tissue and, in many cases, the device and mechanism itself. Fluoroscopy is well suited to viewing dense materials, but is generally not well suited to visualizing many soft tissues (eg, heart valve cusps).

[0003] A solution for verifying the accurate placement of devices for delivering and deploying implants, such as artificial chordae anchors, to cardiac tissue and / or the proper implantation of such anchors would be welcome. Summary of the Invention

[0004] This Summary of the disclosure is provided to aid in understanding, and those skilled in the art will appreciate that each of the various aspects and features of the disclosure can be advantageously used separately in some instances, or in combination with other aspects and features of the disclosure in other instances. The inclusion or exclusion of any element, component, etc. in this Summary is not intended to limit the scope of the claimed subject matter.

[0005] According to various principles of the present disclosure, a delivery device configured to deliver an implantable device includes three or more sensors disposed along a distal end of the delivery device, the three or more sensors configured to generate signals when the distal end of the delivery device contacts tissue to ensure gripping of the tissue by the implantable device during deployment.

[0006] In some embodiments, the three or more sensors are spaced around the circumference of the distal end of the delivery device, hi some embodiments, the three or more sensors are equidistantly spaced from one another.

[0007] In some embodiments, the delivery device is an anchor garage configured to deliver a tissue anchor to a deployment site, the tissue anchor having two or more claws shiftable from a delivery configuration to a deployment configuration. In some embodiments, the three or more sensors include at least one sensor associated with each claw of the tissue anchor delivered by the anchor garage. In some embodiments, the anchor garage has a blunt distal end along which the three or more sensors are disposed.

[0008] In some embodiments, the three or more sensors include contact sensors. In some embodiments, the delivery and placement device further includes a delivery shaft through which leads extend from the three or more sensors.

[0009] In accordance with various principles of the present disclosure, a system for delivering and deploying an implantable device at a deployment site within the body includes an implantable device, a delivery device configured to deliver the implantable device to the deployment site, and three or more sensors disposed along a distal end of the delivery device, the three or more sensors configured to generate signals when the distal end of the delivery device contacts tissue to ensure gripping of the tissue by the implantable device without the need for imaging during deployment.

[0010] In some embodiments, three or more sensors are spaced around the circumference of the distal end of the delivery device. In some embodiments, the implantable device is a tissue anchor, and the delivery device is an anchor garage configured to deliver the tissue anchor to the deployment site. In some embodiments, the tissue anchor is clocked relative to the anchor garage. In some embodiments, the tissue anchor has two or more claws shiftable from a delivery configuration to a deployment configuration, and the three or more sensors include at least one sensor associated with the claws of the tissue anchor. In some embodiments, the anchor garage includes a protrusion extending longitudinally along a portion of the anchor garage, the protrusion engaging a groove extending longitudinally along a portion of the tissue anchor to clock the tissue anchor relative to the anchor garage. Leads from the three or more sensors extend along the anchor garage and within the protrusion to a device that generates a signal indicative of contact of the three or more sensors with tissue. In some embodiments, the tissue anchor is clocked relative to the anchor garage to align at least one of the claws of the tissue anchor with one of the three or more sensors. In some embodiments, the system further includes an artificial chord tensioning and locking device associated with the tissue anchor, wherein the tissue anchor is clocked relative to the anchor garage to align the artificial chords associated with the artificial chord tensioning and locking device with grooves in the anchor garage.

[0011] In accordance with various principles of the present disclosure, a method for delivering and placing an implantable device includes transluminally delivering the delivery and placement device to a placement site within the body, and contacting three or more sensors on a distal end of the delivery and placement device with tissue at the delivery site to generate signals indicative of the position of the delivery and placement device and ensure that the implantable device is grasping tissue at the placement site.

[0012] In some embodiments, the three or more sensors are spaced apart along the distal end of the delivery and deployment device, and the method further includes deploying the implantable device when three of the three or more sensors generate signals indicative of contact with tissue. In some embodiments, the deployment site is cardiac tissue and the implantable device is a tissue anchor, and the method further includes deploying the tissue anchor in the cardiac tissue when all three of the three or more sensors generate signals indicative of contact between the distal end of the delivery and deployment device and tissue at the deployment site without imaging the implantable device or the deployment site.

[0013] These and other features and advantages of the present disclosure will become readily apparent from the following detailed description, and the scope of the claimed invention is set forth in the appended claims. While the following disclosure is presented in terms of aspects or embodiments, it should be understood that each aspect may be claimed separately or in combination with aspects and features of that or any other embodiment.

[0014] Non-limiting embodiments of the present disclosure are described by way of example with reference to the accompanying drawings, which are schematic and not intended to be drawn to scale. The accompanying drawings are provided for illustrative purposes only, and the dimensions, positions, order, and relative sizes reflected in the figures therein may be altered. For example, devices may be enlarged so that details are discernible, but are intended to be reduced in size, e.g., in relation to fitting within the working channel of a delivery catheter or endoscope. In the drawings, identical, nearly identical, or equivalent elements are typically represented by the same reference character, and similar elements are typically designated by similar reference numerals that are different and incremented by 100, and redundant description is omitted. For purposes of clarity and simplicity, not every element is labeled in every drawing, and not every element of every embodiment is shown, unless illustration is necessary to enable those skilled in the art to understand the present disclosure.

[0015] The detailed description will be better understood in conjunction with the following accompanying drawings, in which like reference characters represent like elements and in which: [Brief explanation of the drawings]

[0016] [Figure 1] 1 shows a perspective view of an example embodiment of an anchor delivery and placement device and system formed in accordance with various principles of the present disclosure, shown within a schematic representation of a heart, for placing anchors in cardiac tissue. [Figure 2] 1 shows a perspective view of an example of an embodiment of an anchor delivery and deployment device and system formed in accordance with various principles of the present disclosure, optionally with its associated delivery catheter and leaflet clip delivery / deployment system shown in dashed lines. [Figure 3] 3 shows a further perspective view of an example embodiment of an anchor delivery and placement device and system as shown in FIG. 2, further showing an example embodiment of a sensor located at the distal end of the anchor delivery and placement device and system according to various principles of the present disclosure. [Figure 4] FIG. 4 is an end view of the anchor delivery and placement device of FIG. 3. DETAILED DESCRIPTION OF THE INVENTION

[0017] The following detailed description should be read with reference to the drawings illustrating exemplary embodiments. It should be understood that the present disclosure is not limited to the particular embodiments described, as such may vary. All devices, systems, and methods discussed herein are examples of devices, systems, and / or methods implemented in accordance with one or more principles of the present disclosure. Each example of an embodiment is provided by way of illustration and is merely an example, not the only way, to implement these principles. Therefore, references to elements, structures, or features in the drawings should be understood as references to example embodiments of the present disclosure, and should not be understood as limiting the disclosure to the particular elements, structures, or features shown. Those skilled in the art will, upon reading this disclosure, be able to imagine other examples of ways to implement the disclosed principles. Indeed, it will be apparent to those skilled in the art that various modifications and variations can be made in the present disclosure without departing from the scope or spirit of the subject matter. For example, features illustrated or described as part of one embodiment can be used with another embodiment to yield yet still further embodiments. Thus, it is intended that the present subject matter covers such modifications and variations as come within the scope of the appended claims and their equivalents.

[0018] It will be understood that the present disclosure has been described in various levels of detail in this application. In certain instances, details that are not necessary for those skilled in the art to understand the present disclosure or that would make it difficult for those skilled in the art to appreciate other details may be omitted. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting beyond the scope of the appended claims. Unless otherwise defined, technical terms used herein should be understood as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. All of the devices and / or methods disclosed and claimed herein can be made and executed without undue experimentation in light of the present disclosure.

[0019] As used herein, "proximal" refers to the direction or location closest to the user (e.g., medical professional, or clinician, or technician, or operator, or physician, etc., such terms are used interchangeably herein without limitation and include automated controller systems or other methods) and / or closest to the delivery device, such as when using the device (e.g., when introducing the device into a patient or when implanting, placing, or delivering the device), and "distal" refers to the direction or location furthest from the user and / or closest to the delivery device, such as when using the device (e.g., when introducing the device into a patient or when implanting, placing, or delivering the device). "Longitudinal" means extending along the longer or greater dimension of an element. "Central" means at least generally intersecting the center point and / or generally equidistant from the periphery or boundary, and "central axis" means, with respect to an opening, a line that at least generally intersects the center point of the opening and extends longitudinally along the length of the opening, for example, if the opening comprises a tubular element, channel, cavity, or hole.

[0020] Various devices and systems delivered transluminally into a patient's body include components formed from metals or other materials that are not easily visible or visualized or otherwise identifiable with typical or current imaging systems for imaging body tissue (e.g., fluoroscopy or ultrasound imaging). Tools and systems for visualizing / imaging tissue generally do not provide sufficient clarity to visualize metallic or polymeric systems or devices delivered to such tissue. In accordance with various principles of the present disclosure, the devices, systems, and methods described herein facilitate manipulation of the devices and systems relative to body tissue without visualizing or imaging the device or system (e.g., with a tool or system used to visualize or image the body tissue). More specifically, various principles of the present disclosure facilitate fixation of one or more devices to tissue, such as cardiac tissue (e.g., papillary muscle tissue). Even more specifically, various principles of the present disclosure facilitate fixation of anchor devices to tissue. The term anchor device is used for convenience and may be used interchangeably herein with terms such as anchor, anchor element, anchor mechanism, anchor component, anchoring element, anchoring device, anchoring mechanism, anchoring component, etc., with it being understood that such terms are known in the art to refer to structures configured to be held in place, and optionally also to hold another object in place. It is further understood that various terms such as attach, fix, implant, secure, fasten, couple, engage, hold, maintain, embed, grasp, etc. may be used interchangeably herein (in various grammatical forms) to refer to the attachment of an anchor to tissue, without any intention of limitation.In accordance with various principles of the present disclosure, sensors, such as contact sensors, are associated with the implantable device and / or delivery and placement device and / or system to provide information not readily discernible with typical or current imaging techniques, so that the delivery / placement device and / or implantable device does not need to be imaged or visualized to determine the relationship (e.g., spacing, degree of contact, etc.) provided to at least a portion of the delivery and placement device to facilitate placement of the device relative to tissue.

[0021] The devices, systems, and methods of the present disclosure may be used alone or in conjunction with other devices, systems, and methods to treat cardiac diseases. For example, the principles of the present disclosure may be applied to procedures for repairing heart valves (e.g., to ensure proper function and closure of the heart valve), such as repositioning, repairing, and / or replacing one or more heart valve leaflets and / or chordae tendineae. Examples of devices, systems, and methods in which embodiments of the present disclosure may be implemented include, but are not limited to, U.S. Patent Application Publication No. 2021 / 0007847, published on January 14, 2021, entitled "Devices, Systems, And Methods For Clamping A Leaflet Of A Heart Valve," U.S. Patent Application Publication No. 2021 / 0000597, published on January 7, 2021, entitled "Devices, Systems, And Methods For Adjustably Tensioning An Artificial Chordae Tendineae Between A Leaflet And A Papillary Muscle Or Heart Wall," U.S. Patent Application Publication No. 2021 / 0000599, published on January 7, 2021, entitled "Devices, Systems, And Methods For Artificial Chordae Tendineae," and U.S. Patent Application Publication No. 2021 / 0000599, published on January 7, 2021, entitled "Devices, Systems, And Methods For Anchoring An Artificial Chordae Tendineae To A Papillary Muscle," and U.S. Patent Application Publication No. 2021 / 0000599, published on January 7, 2021, entitled "Devices, Systems, And Methods For Anchoring An Artificial Chordae Tendineae To A Papillary Muscle." No. 2021 / 0000598 entitled "Or Heart Wall," and U.S. Patent Application No. __ / _______, filed September 30, 2020 [Attorney Docket No. 8150.0752Z], U.S. Patent Application No. __ / _______, filed September 1, 2021 [Attorney Docket No. 2001.2700100, formerly 8150.0802Z], and U.S. Provisional Patent Application No. 63 / _______, filed September 1, 2021 [Attorney Docket No. 2001.2701100, formerly 8150.0803Z], the contents of each of which are incorporated herein by reference in their entirety for all purposes.It should be understood that the devices and systems described herein may be used in conjunction with the devices or systems disclosed in the above-referenced applications incorporated herein, or may be used in conjunction with other devices and systems.

[0022] Intravenous / transcatheter exchange of one or more artificial chordae involves attaching the artificial chordae, such as expanded polytetrafluoroethylene (ePTFE) sutures, to cardiac tissue, such as the ventricular wall / papillary muscles. Various methods of attaching the artificial chordae use anchoring devices, such as anchors with one or more (typically, two or more, three or more, or even four or more) claws. Anchors used in accordance with various principles of the present disclosure may include multiple claws that are biased into a deployed configuration for engaging tissue, but may also be disposed in a delivery configuration for delivery to tissue, such as within an anchor delivery and deployment device of an anchor delivery and deployment system. The delivery configuration may be a compact or compressed configuration, and the deployed configuration may be an open or expanded configuration (having an outer dimension larger than the outer dimension of the anchor when in the delivery configuration). When pressed against body tissue, the anchor's claws may pierce and penetrate the tissue and expand into a deployed configuration where they are anchored within the body tissue. The anchor (including the anchor's claws) may be formed from an elastic and / or shape-memory material, such as Nitinol, and may be formed (e.g., by heat treatment) into a desired open configuration and shaped to ensure secure connection of the anchor with cardiac tissue. Thus, the anchor's claws are biased to substantially automatically open to the open configuration without external forces moving the anchor's claws. It should be understood that terms such as open, expand, shift, move, transition, and the like (and various grammatical forms thereof) may be used interchangeably and without limitation herein to refer to the movement of the anchor's claws. An example of a prosthetic chordae anchor that may be used with the devices, systems, and methods disclosed herein includes, but is not limited to, the anchor disclosed in U.S. Provisional Patent Application No. 63 / _______, filed September 1, 2021 [Attorney Docket No. 2001.2700100, formerly 8150.0803Z], referenced above and incorporated by reference.

[0023] Generally, it is desirable for the distal end of an anchoring device, such as an artificial chordae anchor, to adequately and / or completely engage the tissue into which the anchoring device is engaged. For example, if the artificial chordae anchor includes one or more claws, it is generally desirable for the distal end of the claw to engage the tissue into which the claw will be implanted prior to deployment from the delivery and deployment device. It should be understood that terms such as deploy, eject, push, release, propel, eject, and dispense (and various grammatical forms of these terms) may be used interchangeably herein, without any limitation. In some embodiments, the anchor is deployed by being pushed into cardiac tissue from a delivery location relative to the delivery and deployment device (e.g., within a garage or other seat or delivery area on the delivery and deployment device). Engaging tissue prior to deployment may be particularly important if a portion of the anchor, such as a claw, changes position or configuration during deployment (e.g., if the claw bends outward to firmly engage within tissue to hold the anchor in place). More specifically, engaging such portions of the anchor with the tissue before driving the anchor into the cardiac tissue allows such portions to penetrate the tissue before changing position or configuration.

[0024] Because current visualization / imaging tools generally do not provide sufficient clarity to visualize both the body tissue and the device, such as the anchor, it is generally difficult to ensure proper tissue contact along the distal end of the anchor, such as visualizing the anchor's claws and the tissue entry point where the anchor's claws penetrate the tissue. Lack of contact between the anchor and the tissue typically results in that portion of the anchor (e.g., the claws) not gripping or penetrating the tissue. Furthermore, it is generally desirable to place the anchor in the appropriate tissue, such as muscle tissue rather than fatty tissue, and / or in the appropriate location and / or orientation, such as papillary tissue rather than the apex of the heart.

[0025] In accordance with various principles of the present disclosure, one or more sensors are associated with the implantable device, the delivery and placement device, and / or the delivery and placement system to communicate information about the implantable device and placement site. The sensors may include electrodes (e.g., conductive pads) and corresponding electronics. The information may include, but is not limited to, the degree of engagement of the delivery and placement device with tissue at the placement site, the position of the implantable device with tissue at the placement site, and / or further information about the device or system. It should be understood that terms such as placement site, treatment site, implantation site, and the like may be used interchangeably herein without any limitation. It should be understood that references to delivery and / or placement herein are intended to include delivery or placement, or both. It should be further understood that placement may include fixation of the device in addition to placement of the device. The delivery / placement device may be configured to hold and / or carry the implantable device for delivery to the placement site and / or to facilitate placement of the implantable device within tissue. For example, the delivery / deployment device may be configured to manipulate the implantable device to position and deploy (e.g., anchor, implant, secure, etc.) the implantable device relative to tissue at the deployment site. It will be understood that terms such as manipulate (and other grammatical forms of those words) may be used interchangeably herein with terms such as actuate, control, steer, move, operate, shift, transition, drive, advance, retract, rotate, translate, etc. (and other grammatical forms of those words) without any intention of limitation.

[0026] In some embodiments, the one or more sensors are contact sensors. For example, the one or more sensors may directly indicate at least the level of engagement between the delivery and placement device and the tissue into which the anchor is to be placed. The one or more sensors relay a signal to a medical professional (e.g., a surgical team) using the system to implant the anchor when the anchor contacts tissue, or at least when the delivery and placement device has sufficiently contacted tissue to ensure proper placement of the anchor. Such information may be communicated in any of a variety of ways (e.g., visual or audible indications, such as on the delivery system or a separate associated device) to the medical professional (e.g., the surgical team, including any automated systems utilized) to facilitate placement, implantation, etc. of the anchor device. For example, such information may be used to guide placement of the anchor and delivery and placement device and / or to determine whether repositioning is required prior to placement of the anchor. Two or more sensors may be provided to indicate the spatial extent (e.g., length or surface area) of contact with the tissue, the position of the delivery and placement device and anchor relative to the tissue (positioned to ensure placement resulting in implantation of the anchor), the degree to which the device grips the tissue, further information about the implantable device, etc. In some embodiments, multiple sensors can be used to generate various information, e.g., to indicate both tissue contact and the position of the device relative to the tissue. Electronics associated with the sensors can sense the tissue in contact with the sensor, e.g., the resistance, impedance, capacitance, etc. of the tissue between the sensors (e.g., between the electrodes of the sensor). Optimal electrode spacing and the most appropriate sensing method can be determined based on the tissue with which the medical device will be associated. An optimal system will generally have the highest signal-to-noise ratio (SNR), thereby improving sensing reliability. Two primary factors affecting SNR are the sensing method and contact spacing. These values ​​may be determined experimentally, and it is expected that the optimal configuration will depend on the target tissue and environment (e.g., the ventricular wall and blood region in this case).In some embodiments, one or more sensors transmit a signal, e.g., on the delivery system or a separate associated device, that generates a visual indication (e.g., a lighted signal that generally indicates engagement or provides further detailed visual information) and / or an audible indication (e.g., a sound that generally indicates engagement or provides further information). Other forms and methods of providing information regarding devices, systems, methods, etc. are within the scope of this disclosure, and the broad concepts are not so limited.

[0027] It should be understood that the sensor may be formed from a conductive material. Additional conductive components, such as leads, traces, connecting paths, solder pads, electrical wires, etc., may be associated with the sensor, for example, to communicate information to a medical professional and / or to provide power to the sensor. The conductive material may be selected from any of a variety of materials, such as, but not limited to, titanium, niobium, gold, nickel-copper, silver, tin, platinum, palladium, tantalum, tungsten, etc.

[0028] In examples disclosed herein, an anchor delivery and deployment system formed according to various principles of the present disclosure is configured to deliver an anchor disposed within a delivery and deployment device, such as an anchor garage, in a delivery configuration. In some embodiments, the anchor garage is disposed within a catheter typically having an inner diameter of about 0.22 inches (5.59 mm), and the anchor garage may have an outer diameter of about 0.12 inches (3.048 mm) (and, in some embodiments, an inner diameter of about 0.1065 inches / 2.7051 mm). For example, the anchor garage may constrain or hold the anchor's claws in a compact configuration so that they fit within the inner diameter of the anchor garage. In some embodiments, the anchor's claws are elongated or elongated in the compact configuration so that they extend along the longitudinal axis of the anchor garage. An actuator, such as a pusher rod, may be used to move the anchor from the anchor garage for deployment into body tissue. Once the anchor is no longer within the anchor delivery and deployment device, the anchor's claws may be moved to an open configuration, such as an expanded configuration. In the expanded configuration, the anchor can have an outer diameter that is larger than its outer diameter when in the delivery configuration and larger than the inner diameter of the anchor garage. According to various principles of the present disclosure, a sensor is provided at the distal end of the delivery and deployment device, such as at the distal end of the anchor garage. An anchor garage with an enlarged or blunt distal end, such as described in the above-referenced and incorporated U.S. Provisional Patent Application No. 63 / _______ [Attorney Docket No. 2001.2700100, formerly 8150.0803Z], filed September 1, 2021, provides sufficient surface area for one or more sensors, e.g., spaced apart from one another.

[0029] Accordingly, various principles of the present disclosure are described herein with reference to embodiments, for example, tissue anchors for securing artificial chordae, and associated devices, systems, and mechanisms. However, it will be understood that the principles of the present disclosure may be applied more broadly to other devices, systems, methods, etc. configured to engage body tissue. The devices, systems, and methods described herein provide robust solutions for patient safety, particularly with respect to implantable devices. Accordingly, it will be understood that the devices, systems, and methods described herein may be used with any of the devices, systems, methods, etc. disclosed in the above-referenced and incorporated applications, or with devices, systems, methods, etc. described herein or in other ways.

[0030] Various embodiments of devices, systems, and methods for implantable device placement will now be described with reference to examples shown in the accompanying drawings. References herein to "one embodiment," "an embodiment," "some embodiments," "other embodiments," etc. indicate that one or more particular features, structures, and / or characteristics in accordance with the principles of the present disclosure may be included in connection with that embodiment. However, such references do not necessarily imply that all embodiments include that particular feature, structure, and / or characteristic, or that an embodiment includes all features, structures, and / or characteristics. Some embodiments may include one or more such features, structures, and / or characteristics in various combinations thereof. Furthermore, references in various places herein to "one embodiment," "an embodiment," "some embodiments," "other embodiments," etc. do not necessarily all refer to the same embodiment, and separate or alternative embodiments are not necessarily mutually exclusive of other embodiments. It is understood that when a particular feature, structure, and / or characteristic is described in connection with one embodiment, such feature, structure, and / or characteristic can also be used in connection with other embodiments, whether or not explicitly described, unless expressly stated otherwise. It is further understood that such features, structures, and / or characteristics may be used or presented alone or in various combinations with each other to create alternative embodiments that are considered part of this disclosure, since it would be unwieldy to describe all of the numerous possible combinations and subcombinations of features, structures, and / or characteristics. Furthermore, various features, structures, and / or characteristics are described that may be exhibited by some embodiments but not by other embodiments. Similarly, various features, structures, and / or characteristics or requirements are described that may be a feature, structure, and / or characteristic or requirement with respect to some embodiments but not with respect to other embodiments. Therefore, the present disclosure is not limited to only the embodiments specifically described herein.

[0031] Referring now to the drawings, it will be understood that common features are identified by common reference elements and that for brevity and convenience, and without intent to be limiting, descriptions of common features will not normally be repeated. For clarity, not all components have been labeled with the same reference number.

[0032] An example of one embodiment of a system and device to which various principles of the present disclosure may be applied is a delivery and deployment system 100, as shown in FIG. 1 . While the illustrated example is configured to deliver and deploy a device for cardiac surgery, such as cardiac valve leaflet repair, the principles of the present disclosure may also be applied to other transluminally / transcatheter delivered devices. As shown, the delivery and deployment system 100 includes an anchor delivery and deployment device 110 configured to deliver and deploy a cardiac anchor 120 relative to cardiac tissue. Optionally, the delivery and deployment system 100 also includes a leaflet clip spreader 1000 configured to deliver leaflet clips 1010 (clearly shown in FIG. 2 with the leaflet clip spreader 1000 in dashed lines) to the cardiac valve leaflets. The delivery and deployment system 100, which may be guided within a delivery guide sheath 104, may be delivered to a deployment site by a delivery catheter 102. To enable transluminal (e.g., transcatheter, as opposed to open) delivery of medical devices within the body, thereby avoiding invasive open surgery, the delivery catheter 102 and delivery guide sheath 104 may be flexible tubular elements (e.g., catheters, sheaths, shafts, tubes, etc.) that are steerable through tortuous paths through the body. The delivery guide sheath 104 may be introduced into the body through the femoral artery using a dilator and cross the septum into the ventricle. The delivery catheter 102 may be steerable (e.g., articulated) so as to be substantially centered above the mitral valve. The anchor delivery and placement device 110 is carried by a shaft 106 that is extendable or retractable within the delivery catheter 102 (e.g., telescopically extending into or out of the delivery catheter 102) and can be positioned relative to (e.g., closer to) a treatment site in the heart.

[0033] In accordance with various principles of the present disclosure, the anchor delivery and placement device 110 is configured to house or hold an implantable device, such as the anchor 120. The implantable device may be shiftable from such a delivery configuration to a deployment configuration. The delivery configuration of the implantable device may be a generally unexpanded configuration, and the deployment configuration of the implantable device may be a generally expanded configuration. The anchor delivery and placement device 110 may be configured to deliver the implantable device in the delivery configuration, as can be understood with reference to FIGS. 2 and 3. In one illustrated example embodiment, the anchor delivery and placement device 110 includes a delivery device configured to carry or hold the implantable device during delivery of the implantable device, which may be in the form of, but is not limited to, the distal end of the delivery shaft 108 or an anchor garage 130 (which may be operatively associated with the end of the delivery shaft 108, as can be seen in FIG. 2). For convenience, and without any intention of limitation, reference will be made herein to the anchor garage 130, and such reference will be understood to include configurations of the delivery device other than the illustrated anchor garage 130. The anchor garage 130 can be configured with an open, blunt distal end 131 (tip or free end) that is sized, shaped, configured, and dimensioned to facilitate pressing the anchor garage 130 against cardiac tissue and deploying the anchor 120 from the anchor garage 130 into tissue T at the deployment site without the possibility of forcing the distal end 131 of the anchor garage 130 into the cardiac tissue. For example, the distal end 131 of the anchor garage 130 can be inwardly rounded or curved (exhibiting a convexly curved outer surface) or otherwise formed to be sufficiently blunt so as not to injure the tissue against which the anchor garage 130 is pressed. For example, but not limited to, the edge of the distal end 131 of the anchor garage 130 can be curved with a radius of approximately 0.0275 inches (0.6985 mm).

[0034] 2 and 3 , anchor 120 formed according to various principles of the present disclosure has a plurality of claws 122 extending distally, for example, from anchor body 124 to its distal end 121. Anchor 120 can be coupled with artificial chord tensioning and locking device 140 to secure artificial chords 150 to anchor 120. Artificial chord tensioning and locking device 140 is structured and configured to receive artificial chords 150 and hold them in a desired position and / or configuration, for example, relative to anchor 120. The specific structure of artificial chord tensioning and locking device 140 is not critical to the present disclosure and can be of any desired structure, including, but not limited to, those disclosed in any of the patent applications referenced herein and / or incorporated by reference.

[0035] In general, it is desirable for anchors 120 used with the devices, systems, and methods of the present disclosure to establish a strong grip in or against tissue to prevent the anchor 120 from being accidentally pulled out of the tissue. Thus, anchors 120 can be sized, shaped, formed, and configured to resist tension on anchor 120 (e.g., by movement of the valve leaflets to which artificial chordae 150 coupled to anchor 120 are also connected). The distal ends 121 of the anchor's claws 122 can each have a tapered or pointed tip suitable for piercing tissue so that the claws 122 penetrate the tissue, thereby firmly securing the anchor 120 to the tissue when it engages the tissue. The claws 122 can be curved, arcuate, or otherwise configured to move the distal ends 121 of the claws in a direction that secures the anchor to the tissue. For example, when anchor 120 is moved from a delivery configuration (e.g., within anchor garage 130 as shown in FIG. 3 ) to a deployed configuration (e.g., outside anchor garage 130), e.g., into tissue T at a deployment site, claws 122 may shift radially outward from longitudinal axis LA of anchor delivery and deployment system 100, e.g., bend back toward anchor body 124. It should be understood that other movements or bending of claws 122 (e.g., by moving radially inward or outward transversely to the longitudinal axis of anchor 120) or other manners to ensure grip of anchor 120 within tissue T at a deployment site are within the scope of the present disclosure. In some embodiments, claws 122 may be formed from a shape memory material and may optionally act as a spring to shift distal end 121 into the deployed configuration. In embodiments in which the anchor is secured within cardiac tissue (eg, to secure artificial chordae to papillary muscles), the strength of the claw generally must be balanced with the flexibility of the claw.For example, the claws should be strong enough to withstand multiple palpatory forces (e.g., over 800 million) imposed on them, yet not deform or break when changing shape (e.g., bending or straightening, such as when shifting between a delivery configuration and a deployed configuration). The (radial) thickness of at least some of the claws may be varied to achieve a desired pull-out resistance / gripping strength in tissue without being so thick that they may deform or break (thicker claws generally have higher strength and greater holding power). Additionally or alternatively, the width of the claws may be selected to achieve a desired tissue gripping strength as well as material strength (to resist deformation or breakage). The length of the claws formed therefrom may be selected so that the claws penetrate sufficiently into the tissue but are not so long that their distal ends exit the tissue (e.g., enter one side and exit another, or enter the tissue, bend through the tissue, and exit the tissue on the same side of the tissue as the point of entry). Various further details of the shape and configuration of anchor 120 and claw 122 may be understood by those skilled in the art, but the present disclosure is not limited by such details.

[0036] It should be appreciated that when anchor 120 is deployed having claw 122 pre-shaped to move away from anchor delivery and deployment device 110 during deployment, as described above, without engagement of distal end 121 of anchor 120 with the tissue into which anchor 120 will be implanted, claw 122 may move to the deployed configuration without penetrating tissue. As described above, to ensure proper deployment of anchor 120, it is generally important that distal end 121 of claw 122 contacts tissue before deploying anchor 120 and moving claw 122 into the deployed configuration. Additionally, it is desirable to ensure anchor 120 is deployed in the appropriate location and / or in the appropriate type of tissue so that anchor 120 is securely engaged with tissue for the desired purpose (e.g., to secure artificial chordae 150 to papillary muscle tissue).

[0037] In accordance with various principles of the present disclosure, one or more sensors 160 are associated with anchor delivery and placement device 110, such as with anchor 120, to facilitate placement of anchor 120 to ensure secure engagement with tissue (e.g., to secure another implantable device, such as artificial chordae 150, to tissue) and / or to facilitate proper placement of anchor 120. For example, one or more sensors 160 may be associated with anchor garage 130 and thereby associated with anchor 120. More specifically, sensors 160 may be spaced along distal end 101 of anchor delivery and placement device 110, such as on distal end 131 of anchor garage 130, spaced around the circumference of distal end 131. As discussed above, distal end 131 of anchor garage 130 may be a blunt, rounded end and may be sized, shaped, configured, and dimensioned in a manner understood by one of ordinary skill in the art to provide sufficient space for positioning sensor 160 to effectively contact tissue to generate a desired signal upon contact with the tissue. For example, the distal end 131 of the anchor garage 130 may have an outer diameter of approximately 0.175 inches (4.445 mm) and an inner diameter of approximately 0.107 inches (2.718 mm), with an electrode size of approximately 0.015 inches (0.381 mm) by 0.030 inches (0.762 mm). In some embodiments, one or more sensors 160 may be positioned directly adjacent to each claw 122 of the anchor 120 to indicate contact between the anchor garage 130 and tissue. Contact between the anchor garage 130 and tissue is necessary to ensure the desired intimate contact between the claw 122 and tissue upon deployment of the anchor 120 to ensure tissue grip by the claw 122. A variety of suitable sensors are available for generating a useful and usable signal indicating whether the anchor delivery and deployment device 110 is in contact with tissue or is otherwise ready to deploy an anchor.For example, sensor 160 may be a contact sensor (e.g., including electrodes that generate a signal upon contact with tissue) and / or an impedance sensor (measuring the impedance of the material with which the sensor is in contact) that can indicate when anchor delivery and placement device 110 is in contact with tissue so as to ensure engagement of claws 122 of anchor 120. In some embodiments, sensors 160 can sense various parameters, such as impedance resistance, impedance, capacitance, etc., between each other to indicate contact, position, type of tissue in contact (e.g., fatty tissue or muscle tissue), and other information useful for proper / desired placement of anchor 120.

[0038] In accordance with various principles of the present disclosure, at least three sensors 160 are provided along the distal end 111 of the anchor delivery and placement device 110, as shown in Figures 2, 3, and 4. The at least three sensors 160 define a plane along the distal end 111 of the anchor delivery and placement device 110 such that when all three sensors 160 are in contact with tissue, the plane on which the distal end 111 of the anchor delivery and placement device 110 lies is in contact with the tissue, and the claws 122 of the anchor 120 (delivered by the anchor delivery and placement device 110) should be in contact with the tissue upon deployment from the anchor delivery and placement device 110. In other words, when all sensors 160 on the distal end 111 of the anchor delivery and placement device 110 are in contact with the tissue, the distal end 111 should be "perpendicular" to the tissue (e.g., fully in contact with the tissue along the circumference of the delivery and placement device 110) and not at an angle. Such position confirmation should ensure that all of the claws 122 of the anchor 120 engage tissue upon deployment to achieve the desired penetration and grip on the tissue. If the anchor delivery and deployment device 110 is angled, it is likely that some of the claws 122 will not grip the tissue T at the treatment site. It should be understood that four or more sensors 160 may be provided.

[0039] In some embodiments, each claw 122 of a deployed anchor 120 may have an associated sensor 160 located adjacent to and / or aligned with the claw 122. In the example embodiment shown in FIGS. 2, 3, and 4, four sensors 160 are provided, each aligned with a claw 122 of an anchor 120. At least a portion of the anchor 120 and at least a portion of the anchor delivery and placement device 110 may be provided with corresponding clocking elements to maintain alignment of the anchor 120 with the sensors 160 on the anchor delivery and placement device 110, or to otherwise hold the anchor 120 in a predetermined position or otherwise maintain a selected position relative to the delivery and placement device 110. In some embodiments, the clocking elements include a groove or protrusion on a portion of the anchor 120 and a corresponding mating protrusion or groove on the anchor delivery and placement device 110. 4, the anchor body and / or the artificial chordae tensioning and locking device 140 associated with or coupled to the anchor 120 may be provided with or formed with a clocking element 142 (e.g., in the form of a longitudinally extending groove), and the anchor garage 130 within which the anchor 120 is delivered to the deployment site may be provided with or formed with a corresponding clocking element 132 (e.g., in the form of a longitudinally extending protrusion or rib). Engagement of the clocking elements 142, 132 prevents relative rotation of the anchor 120 and its associated claw 122 with respect to the anchor delivery and deployment device 110 and its associated sensor 160. In some embodiments, the clocking elements 142, 132 may also align the artificial chordae 150 extending from the anchor 120 (e.g., from the artificial chordae tensioning and locking device 140) with the slot 132 in the anchor garage 130 to extend to the leaflet clip 1010.In some embodiments, the anchor garage 130 may be formed from a metal or a polymer and is glued onto a delivery catheter or shaft 108 (shown in phantom in FIG. 2 ), which is typically formed from a polymer (but may optionally be formed from a combination of polymer and metal braid or coil, or from a metal). The anchor garage 130 and artificial chordae tensioning and locking device 140 may be machined or molded, or formed by other methods known to those skilled in the art, to include clocking elements 142, 132 (such as, but not limited to, those described above).

[0040] Sensor 160 may be configured in any desired manner to sense contact with tissue and generate an appropriate signal indicative of tissue contact. For example, sensor 160 is configured to sense and generate a signal (e.g., an impedance measurement) and, therefore, is typically conductive. A variety of suitable sensors, such as those known to those skilled in the art, are available for generating a useful and usable signal that indicates whether anchor delivery and placement device 110 and anchor 130 are in place, in contact, or otherwise ready to deploy anchor 120. In accordance with various principles of the present disclosure, three or more sensors 160 are provided that can indicate contact with tissue. In some embodiments, a signal is generated when all three sensors 160 contact tissue. In some embodiments, a signal is generated separately for each sensor 160 (e.g., to indicate the angular position of anchor delivery and placement device 110 relative to tissue T at the treatment site). Such information can be used by a medical professional to adjust the position of anchor delivery and placement device 110 as needed to ensure proper delivery and placement of anchor 120. One or more of the three or more sensors 160 may optionally identify the type of tissue contacted. For example, the sensor may be a contact sensor or an impedance sensor that measures the impedance of a material contacted by the sensor. Such impedance-based sensors may be used in techniques used in electrophysiology devices that map the heart based on its electrical activity, for example, to distinguish body tissue from other materials and / or to distinguish different types of tissue (e.g., muscle, fat, etc.) based on the impedance measured upon contact with such tissue. The sensor 160 may be formed from a conductive biocompatible material, such as, but not limited to, niobium, silver, titanium, tungsten, tantalum, etc., as well as nitrides or oxides. The choice of material for the conductive layer 146 may be influenced by the desired sensing function (e.g., impedance measurement capability), associated circuitry, electrical requirements, signal output requirements, etc.

[0041] In some embodiments, the multiple sensors 160 are formed as a flexible circuit board with one or more contacts (e.g., exposed pads or other contact features). For example, the circuit board may include metallized plates with various regions insulated from one another and conductive sensors that generate a signal upon contact with tissue. The circuit board may be generally insulating, except for the exposed pads or other contact features of the sensors. Insulated wires, as known in the art, may pass through holes in the circuit board and run proximally through or along the various catheters / shafts 108, 106, 104, 102 of the delivery / deployment system 100, for example, to deliver power to the circuit board and transmit signals from the sensors to devices to indicate information to a medical professional (e.g., contact between the sensor 160 and tissue). Alternatively, the sensors may be individual pads, with insulating material provided to insulate the pads from, for example, the anchor garage 130 or other conductive elements. Sensor 160 may be stamped, machined, printed, or formed on a substrate in any desired manner, including, but not limited to, adhesive bonding, interference fit (e.g., fitting into a groove, pocket, recess, etc.), physical vapor deposition (e.g., sputter coating, thermal evaporation, arc spray, etc.), electroless plating, electrolytic plating, brazing, or other bonding methods. The area of ​​anchor delivery and placement device 110 where sensor 160 is provided (e.g., anchor garage 130) may be masked or otherwise protected to limit the area to which sensor 160 material and / or any associated leads, traces, connection paths, solder pads, etc. are applied. Other configurations of sensor 160 are within the scope of the present disclosure, and the details are not critical to the principles of the present disclosure.

[0042] As described above, at least one lead extends proximally along the delivery and deployment system 100 from the at least one sensor 160 to a proximal location where power may be supplied to the lead and / or the lead may be coupled to an indicator that generates a signal from the one or more sensors 160 to transmit information sensed by the one or more sensors 160 to a medical professional operating the delivery and deployment system 100 and / or to transmit power to the one or more sensors 160. As can be appreciated, the indicator may be any known indicator configured to provide desired information in a desired form or configuration to a medical professional operating the delivery and deployment system 100. For example, the signal may simply be a red light indicating insufficient or no contact, or a green light indicating sufficient or complete contact. Further detailed signals may be generated to provide more detailed information, for example, regarding the position, location, degree of grip or engagement, etc. of the anchor 120 (or another implantable device), the details of which are not important to the broad principles of the present disclosure. Each sensor 140 may have its own lead. Because the wall thickness of anchor delivery and placement device 110 (e.g., anchor garage 130) is generally limited, the leads of sensor 160 may run together along a common passage within anchor garage 130, into delivery shaft 108, and proximally to a station (e.g., for a power source or a signal indicating device). In some embodiments, the common channel is formed in clocking element 132 in the form of an axial protrusion along anchor garage 130, which protrusion provides additional wall thickness to accommodate the leads.

[0043] As can be appreciated by those skilled in the art, achieving adequate grip of tissue can be challenging with various implantable devices, such as devices with shape-memory components that bend or flex upon deployment, such as the claws of a tissue anchor. Providing one or more sensors as disclosed herein allows for confirmation of the desired engagement, placement, grip, etc., of the tissue by the implantable device. The signals generated by the sensors can advantageously facilitate accurate and efficient placement and deployment of the anchor within cardiac tissue, for example, to secure artificial chordae to cardiac tissue for valve leaflet repair. While embodiments of the present disclosure may be described with particular reference to tissue anchors, for example, for implantation in the heart (and more particularly, for securing artificial chordae to cardiac tissue), it should be understood that various other implantable devices may benefit from the devices, systems, and methods described herein. For example, other implantable devices used in the heart and that need to withstand the compressive forces of the heart (e.g., implantable devices for use in / repairing the heart, such as the mitral or tricuspid valve, and / or for addressing other dilatation, valvular insufficiency, valvular leak, and other similar heart failure conditions) may also benefit from the concepts disclosed herein. Moreover, it will be appreciated that the broad principles and concepts described above with respect to the heart are applicable to other delivery / deployment systems for other types of devices delivered and / or deployed elsewhere in the body.

[0044] It should be understood that, as described herein, an "embodiment" (as shown in the accompanying drawings) may refer to an exemplary representation of an environment, article, or component in which a disclosed concept or feature may be provided or embodied, or a representation of how only the concept or feature may be provided or embodied. However, such illustrated embodiments should be understood as examples (unless otherwise specified), and other ways of embodying the described concepts or features, as those skilled in the art may understand by learning the concepts or features from the present disclosure, are within the scope of the present disclosure. In addition, while the drawings may show one or more embodiments of a concept or feature together in a single embodiment of an environment, article, or component incorporating such concept or feature, it will be understood that such concepts or features should be understood as independent and separate from one another (unless otherwise specified), are shown together for convenience, and are not intended to be limited to existing or used together. For example, features illustrated or described as part of one embodiment can be used separately or with one or more other features to yield still further embodiments. Thus, it is intended that the present subject matter covers such modifications and variations as come within the scope of the appended claims and their equivalents.

[0045] The above description has broad applicability and is presented for purposes of illustration and explanation, and is not intended to limit the disclosure to the form or forms disclosed herein. It will be understood that various additions, modifications, and substitutions can be made to the embodiments disclosed herein without departing from the concept, spirit, and scope of the disclosure. In particular, it will be apparent to those skilled in the art that the principles of the disclosure can be embodied in other forms, structures, arrangements, proportions, and using other elements, materials, and components without departing from the concept, spirit, scope, or characteristics thereof. For example, various features of the disclosure have been grouped together as one or more aspects, embodiments, or configurations for the purpose of streamlining the disclosure. However, it should be understood that various features of particular aspects, embodiments, or configurations of the disclosure can be combined into alternative aspects, embodiments, or configurations. While the disclosure is presented in terms of embodiments, it should be understood that various individual features of the subject matter need not all be present to achieve at least some of the desired properties and / or advantages of the subject matter or such individual features. Those skilled in the art will recognize that the present disclosure can be used with many modifications specifically adapted to particular environments and operating requirements, or with modifications to the structure, arrangement, proportions, materials, components, and other aspects used in practicing the disclosure, without departing from the principles, spirit, or scope of the present disclosure. For example, elements shown as integrally formed can be composed of multiple pieces, or elements shown as multiple pieces can be formed integrally, operations of elements can be reversed or otherwise changed, and elements can be sized or dimensioned differently. Similarly, although operations, actions, or steps are described in a particular order, this should not be understood as indicating that such a particular order is required, or that all operations, actions, or steps should be performed, to achieve desirable results. Moreover, other implementations are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results.The presently disclosed embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the claimed subject matter being indicated by the appended claims and not limited to the foregoing description or to the specific embodiments or configurations described or illustrated herein. In view of the above, individual features of any embodiment can be used and claimed separately or in combination with features of that embodiment or any other embodiment, and the scope of the subject matter being indicated by the appended claims and not limited to the foregoing description.

[0046] In the foregoing description and in the claims that follow, it will be understood that: The phrases "at least one," "one or more," and "and / or," as used herein, are open-ended expressions that operate both conjunctively and disjunctively. The terms "a," "an," "the," "first," "second," etc., do not preclude a plurality. For example, the term "a" or "an" entity, as used herein, refers to one or more of that entity. Thus, the terms "a" (or "an"), "one or more," and "at least one" can be used interchangeably herein. All directional references (e.g., proximal, distal, upper, lower, upward, downward, left, right, lateral, longitudinal, front, rear, top, bottom, above, below, vertical, horizontal, radial, axial, clockwise, counterclockwise, etc.) are used for identification purposes only to aid the reader in understanding this disclosure and / or serve to distinguish regions of associated elements from one another and do not limit the associated elements, particularly with respect to the position, orientation, or use of this disclosure. Connection references (e.g., attached, coupled, connected, and joined) should be interpreted broadly and may include intermediate members between groups of elements and relative movement between the elements, unless otherwise indicated. Therefore, connection references do not necessarily imply that two elements are directly connected and in a fixed relationship to one another. Distinguishing references (e.g., primary, secondary, first, second, tertiary, quaternary, etc.) are not intended to imply importance or priority, but are used to distinguish one feature from another.

[0047] The following claims are incorporated by reference into this Detailed Description, with each claim standing on its own as a separate embodiment of the present disclosure. In the claims, the term "comprising" does not exclude the presence of other elements, components, features, regions, steps, operations, etc. Furthermore, although individual features may be included in different claims, these features may, in some cases, be advantageously combined, and their inclusion in different claims does not imply that a combination of features is not feasible and / or advantageous. Furthermore, reference to the singular does not exclude a plurality. Reference signs in the claims are provided merely as a clarifying example and should not be construed as limiting the scope of the claims in any way.

Claims

1. 1. A delivery and placement device for transluminally delivering and / or placing an implantable device at a placement site within the body, the implantable device having a portion that shifts from a delivery configuration to a placement configuration upon placement, the delivery and placement device comprising: a delivery device configured to deliver the implantable device; three or more sensors disposed along a distal end of the delivery device, the three or more sensors configured to generate a signal when the distal end of the delivery device contacts tissue to ensure tissue is gripped by the implantable device during deployment; A delivery and placement device comprising:

2. The delivery and placement device of claim 1 , wherein the three or more sensors are spaced around the circumference of the distal end of the delivery device.

3. 3. The delivery and placement device of claim 2, wherein the three or more sensors are equidistantly spaced from one another.

4. The implantable device is a tissue anchor having two or more claws that are shiftable from the delivery configuration to the retention configuration; The delivery and placement device of claim 1 , wherein the delivery device is an anchor garage configured to deliver the tissue anchor in the delivery configuration to the placement site.

5. The delivery and placement device of claim 4 , wherein the three or more sensors include at least one sensor associated with each claw of the tissue anchor delivered by the anchor garage.

6. 5. The delivery and placement device of claim 4, wherein the anchor garage has a blunt distal end and the three or more sensors are disposed along the blunt distal end.

7. The delivery and placement device of claim 1 , wherein the three or more sensors include contact sensors.

8. The delivery and placement device of any one of claims 1 to 7, further comprising a delivery shaft, wherein leads extend from the three or more sensors through the delivery shaft.

9. 1. A system for delivering and placing an implantable device at a placement site within the body, comprising: the implantable device; a delivery device configured to deliver the implantable device to the placement site; three or more sensors disposed along a distal end of the delivery device, the three or more sensors configured to generate a signal when the distal end of the delivery device contacts tissue to ensure tissue grasping by the implantable device without the need for imaging during placement; A system comprising:

10. The system of claim 9 , wherein the three or more sensors are spaced around the circumference of the distal end of the delivery device.

11. the implantable device is a tissue anchor; the delivery device is an anchor garage configured to deliver the tissue anchor to the placement site.

10. The delivery and placement system of claim 9.

12. The system of claim 11 , wherein the tissue anchor is clocked relative to the anchor garage.

13. the tissue anchor having two or more claws shiftable from a delivery configuration to a deployment configuration; the three or more sensors include at least one sensor associated with a claw of the tissue anchor; The system of claim 12.

14. 12. The system of claim 11, wherein leads from the three or more sensors extend along the anchor garage and within the protrusion to a device that generates a signal indicative of contact of the three or more sensors with tissue.

15. The system of claim 13 , wherein the tissue anchor is clocked relative to the anchor garage to align at least one of the claws of the tissue anchor with one of the three or more sensors.

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