Delivery and retrieval system for a medical device

Abstract

A medical system including a delivery device configured to control the movement of an implantable medical device (IMD) within a receptacle volume of a device receptacle. The device receptacle is configured to position the IMD within an anatomical volume of a patient, such as a heart chamber. The delivery device includes a plunger configured to move relative to a support portion to transfer a force to a linking system configured to engage the IMD. The linking system extends within a lumen of an elongate body extending between the support portion and the device receptacle. The medical system may include a head portion configured to transition from an engagement configuration engaging the IMD to a disengagement configuration disengaged from the IMD based on a position of the head portion relative to the device receptacle.

Description

DELIVERY AND RETRIEVAL SYSTEM FOR A MEDICAL DEVICE

[0001] This application claims the benefit of U.S. Provisional Application Serial No. 63 / 625,427, filed January 26, 2024, and claims the benefit of U.S. Provisional Application Serial No. 63 / 748,144, filed January 22, 2025, the entire contents of which are incorporated herein by reference.TECHNICAL FIELD

[0002] This disclosure is related to systems for delivery and / or retrieval of implantable medical devices.BACKGROUND

[0003] Various types of implantable medical devices have been implanted for treating or monitoring one or more conditions of a patient. Such implantable medical devices may be adapted to allow medical devices to monitor and / or treat conditions or functions relating to heart, muscle, nerve, brain, stomach, endocrine organs or other organs and their related functions. The implantable medical devices may be implanted at target locations selected to detect a physiological condition of the patient and / or deliver one or more therapies. For example, implantable medical devices may be delivered to locations within an atrium or ventricle of a heart to sense intrinsic cardiac signals and deliver pacing or antitachyarrhythmia shock therapy.

[0004] Some implantable medical devices are sized to be completely implanted within one of the chambers of the heart and / or another anatomical volume of the patient to detect a physiological condition and / or deliver one or more therapies. Such implantable medical devices may utilize delivery and / or retrieval systems to allow a clinician to navigate the implantable medical device (e.g., through vasculature of the patient) to the target location, and / or to retrieve the implantable medical device from the patient. In some examples, the implantable medical device may include one or more anchoring components intended to engage tissues at the target location (e.g., for implantation) and / or disengage from tissue at the target location (e.g., for retrieval).SUMMARY

[0005] The disclosure describes a medical system configured to deliver, position, retrieve, and / or otherwise re-orient an implantable medical device (“IMD”) within an anatomical volume (e.g., a chamber of a heart) within a patient. The medical system includes a delivery device including a support portion and a plunger supported by the support portion. In examples, the support portion defines a support portion lumen and the plunger is configured to extend at leastpartially within the lumen (e.g., the delivery device may be a syringe-type device). A proximal portion of an elongate body is coupled to the support portion and a distal portion of the elongate body is coupled to a device receptacle defining a receptacle volume. The elongate body defines a body lumen into the receptacle volume. A linking body coupled to the plunger extends at least partially through the body lumen and couples to the head portion within the receptacle volume. The head portion is configured to engage a medical device within the receptacle volume.

[0006] The plunger is configured to displace relative to the support portion (e.g., within the support portion lumen in some examples) when a force is imparted (e.g., by a clinician) to the plunger. The linking body is configured to transmit the force to the head portion. The head portion is configured to transmit the force from the linking body to a medical device within the receptacle volume to cause movement of the medical device relative to the device receptacle. Hence, exerting (e.g., by the clinician) a distally directed force on the plunger causes the head portion to substantially push the medical device in the distal direction relative to the device receptacle (e.g., push the medical device in a direction toward a receptacle opening of the device receptacle). Exerting (e.g., by the clinician) a proximally directed force on the plunger causes the head portion to substantially pull the medical device in the proximal direction relative to the device receptacle (e.g., pull the medical device in a direction away from the receptacle opening of the device receptacle). In examples, the plunger portion is configured to rotate relative to the support portion to impart a torque on the linking body. The linking body may be configured to transmit the force to the head portion, and the head portion may transmit the torque to the medical device to cause rotation of the medical device relative to the device receptacle.

[0007] In an example, a delivery system for a medical device comprises: a delivery device comprising: a support portion; a plunger including a plunger body supported by the support portion, wherein the plunger body is configured to displace relative to the support portion when a force is imparted to the plunger body; an elongate body coupled to the support portion; a device receptacle coupled to the elongate body, wherein the device receptacle defines a receptacle volume configured to hold the medical device and a receptacle opening configured to allow the medical device to pass therethrough; and a linking system coupled to the plunger body; wherein the plunger body is configured to transfer the force to the linking system, wherein the linking system is configured to transfer the force from the plunger body to the medical device when the linking system engages the medical device, and wherein the device receptacle and the elongate body are configured to insert within one or more anatomical volumes of a patient.

[0008] In an example, a delivery system for a medical device comprises: a support portion including a support portion body defining a support portion lumen; a shapeable body coupled to the support portion and defining a elongate body lumen which opens into the support portionlumen, wherein the shapeable body is configured to transition from a first configuration defining a first curvature to a second configuration defining a second curvature different from the first curvature when a bending force acts on the shapeable body, and wherein the shapeable body is configured to retain the second configuration when the bending force ceases to act on the shapeable body; a device receptacle coupled to the shapeable body, wherein the device receptacle defines a receptacle volume configured to hold the medical device and a receptacle opening configured to allow the medical device to pass therethrough, and wherein the elongate body lumen opens into the receptacle volume; a plunger including plunger flange coupled to a plunger body, the plunger body extending at least partially into the support portion lumen; a linking body coupled to the plunger body, the linking body extending at least partially within the elongate body lumen; and a head portion coupled to the linking body and configured to engage the medical device when the medical device is positioned within the receptacle volume, wherein the plunger body is configured to displace within the support portion lumen to transfer a force from the plunger flange to the linking body, wherein the linking body is configured to move laterally within the elongate body lumen to transfer the force from the plunger body to the head portion, wherein the head portion is configured to move within the receptacle volume to transfer the force to the medical device, and wherein the device receptacle and the shapeable body are configured to insert within one or more anatomical volumes of a patient.

[0009] In an example, a delivery system for a medical device comprises: a linking body; and a head portion attached to the linking body, wherein the head portion is configured to establish an engagement configuration when the head portion is positioned within a receptacle volume of a device receptacle configured to hold an implantable medical device, and wherein the head portion is configured to establish a disengagement configuration when the head portion exits the receptacle volume, the head portion comprising: a hub defining a hub longitudinal axis, wherein the hub is configured to slidably translate substantially parallel to the longitudinal axis in a distal direction and in a proximal direction opposite the distal direction, and an arm extending from the hub, the arm including a support member connected to the hub and the support member supporting an end portion, wherein the hub and the end portion define a gap configured to receive a retrieval structure of the implantable medical device when the head portion is in the engagement configuration, wherein the end portion is configured to transfer a force in the proximal direction from the end portion, through the retrieval structure, and to the hub when the gap receives the retrieval structure and the linking body exerts the force in the proximal direction on the head portion, and wherein the support member is resiliently biased to radially expand outward in a direction away from the hub when the head portion transitions from the engagement configuration to the disengagement configuration.

[0010] In an example, a method comprises: transferring a force, using a plunger body supported by a support portion, to a linking body coupled to the plunger body, the linking body extending at least partially within a elongate body lumen defined by an elongate body coupled to the support portion; and transferring the force, using the linking body, to a head portion within a receptacle volume defined by a device receptacle coupled to the elongate body, wherein the elongate body lumen opens into the receptacle volume, wherein the receptacle volume is configured to hold a medical device and defines a receptacle opening configured to allow the medical device to pass therethrough, wherein the head portion is configured to engage the medical device within the receptacle volume to transfer the force to the medical device, and wherein the device receptacle and the elongate body are configured to insert within one or more anatomical volumes of a patient.

[0011] 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 DRAWINGS

[0012] FIG. 1 is a conceptual diagram illustrating a delivery system including a device receptacle within a heart.

[0013] FIG. 2 is a schematic diagram illustrating a delivery system with a plunger in a first position relative to a support portion.

[0014] FIG. 3 is a schematic diagram illustrating the delivery system of FIG. 2 with the plunger in a second position relative to the support portion.

[0015] FIG. 4 is a schematic diagram illustrating the delivery system of FIG. 2 and FIG. 3 with the plunger in a third position relative to the support portion.

[0016] FIG. 5 is an end view of a head portion in an engagement configuration.

[0017] FIG. 6 is a cross-sectional side view of the head portion of FIG. 5 in the engagement configuration.

[0018] FIG. 7 is an end view of the head portion of FIG. 5 and FIG. 6 in a disengagement configuration.

[0019] FIG. 8 is a cross-sectional side view of the head portion of FIG. 5, FIG. 6, and FIG. 7 in the disengagement configuration.

[0020] FIG. 9 is a perspective view of a head portion in an engagement configuration.

[0021] FIG. 10 is a cross-sectional perspective view of the head portion of FIG. 9 in the engagement configuration.

[0022] FIG. 11 is a side view of the head portion of FIG. 9 and FIG. 10 in the engagementconfiguration.

[0023] FIG. 12 is a cross-sectional side view of the head portion of FIG. 9, FIG. 10, and FIG.11 in the engagement configuration.

[0024] FIG. 13 is a perspective view of a head portion in a disengagement configuration.

[0025] FIG. 14 is a front view of the head portion of FIG. 13 in the disengagement configuration.

[0026] FIG. 15 is a side view of the head portion of FIG. 13 and FIG. 14 in the disengagement configuration.

[0027] FIG. 16 is a cross-sectional side view of the head portion of FIG. 13, FIG. 14, and FIG. 15 in the disengagement configuration.

[0028] FIG. 17 is a rear view of the head portion of FIG. 13, FIG. 14, FIG. 15, and FIG. 16 in the disengagement configuration.

[0029] FIG. 18A is a perspective view of a snare.

[0030] FIG. 18B is a perspective view of the snare of FIG 18A with an expanded loop portion.

[0031] FIG. 19A is a first plan view of a portion of an implantable medical device in accordance with the X-Y-Z axes shown.

[0032] FIG. 19B is an end view of the portion of the implantable medical device of FIG. 19A in accordance with the X-Y-Z axes shown.

[0033] FIG. 19C is a second plan view of the portion of the implantable medical device of FIG. 19A and FIG. 19B in accordance with the X-Y-Z axes shown.

[0034] FIG. 20 is a conceptual diagram illustrating an example delivery system including a shapeable portion.

[0035] FIG. 21 is a schematic plan view of a shapeable portion defining a first curvature and a second curvature.

[0036] FIG. 22 is a schematic plan view of the shapeable portion of FIG. 21 defining a third curvature and a fourth curvature.

[0037] FIG. 23 is a schematic illustration of a delivery catheter defining a plurality of paths through a three-dimensional space.

[0038] FIG. 24 is a schematic plan view of a delivery catheter defining a plurality of markings.

[0039] FIG. 25 illustrates an example technique for transferring a force to a head portion.DETAILED DESCRIPTION

[0040] This disclosure describes a medical system including a delivery system configured todeliver, position, and / or retrieve an implantable medical device (“IMD”) within an anatomical volume (e.g., a chamber of a heart) within a patient. The delivery tool includes a delivery tool configured to cause movement of the IMD relative to a device receptacle holding the IMD. The delivery device is coupled to an elongate body supporting the device receptacle. The delivery device is configured to impart a force on a linking system extending through a lumen of the elongate body and engaged with the IMD. The device receptacle is configured to hold the IMD within a receptacle volume and defines a receptacle opening configured to allow the IMD to pass therethrough. The delivery device is configured to cause movement of the IMD in a distal direction toward the receptacle opening (e.g., to move the IMD in a direction towards tissue of a patient) and / or cause movement of the IMD in a proximal direction away from the receptacle opening (e.g., to move the IMD in a direction away from tissue of the patient). In examples, the delivery device is configured to cause a rotation of the medical device (e.g., relative to the device receptacle). The delivery device is configured to receive a receive a force from a clinician in the distal direction and / or the proximal direction such that the clinician may control the movement of the IMD relative to the tissue of the patient.

[0041] The delivery device includes a plunger and a support portion. The plunger is supported by the support portion. In examples, the plunger extends at least partially within a lumen defined by a body of the support portion (“support portion lumen”). An elongate body is coupled to the support portion at a first end of the elongate body and extends to the device receptacle. The elongate body defines a lumen (“elongate body lumen”) extending from the first end and opening into the receptacle volume of the device receptacle at a second end opposite the first end. The plunger is coupled to a linking body extending through the elongate body lumen from the plunger to a head portion. The head portion is configured to engage the IMD within the receptacle volume.

[0042] The delivery device is configured to transfer a force to the IMD to cause movement of the IMD relative to the device receptacle. The delivery device is configured to receive the force (e.g., from a clinician) via the plunger. The plunger may be configured to displace relative to the support portion when the plunger receives the force. The support portion may be configured to continue its support of the plunger as the plunger displaces relative to the support portion. For example, the support portion may be configured to substantially maintain a sliding contact with the plunger as the plunger displaces, or be configured to continue its support of the plunger in some other manner. In examples, the plunger is configured to displace relative to the support portion as the plunger extends within the support portion lumen.. The plunger is configured to transfer the force to the linking body within the elongate body lumen (e.g., as the plunger displaces relative to the support portion). The linking body is configured to transfer the force tothe IMD to cause the motion of the IMD relative to the device receptacle.

[0043] In examples, the plunger is configured to receive a first force (e.g., from a clinician) and the support portion includes an engagement member (e.g., a finger loop or other engagement member) configured to receive a second force in a direction substantially opposite first force as the plunger receives the first force. The delivery device may be configured such that the second force assists in the movement of the plunger relative to the support portion, such that the plunger may transfer the first force to the linking body. The engagement member may be configured to transfer the second force to the support portion as the plunger receives the first force to, for example, provide a counter force (e.g., a counter traction) to the support portion as the plunger displaces relative to the support portion. In some examples, the support portion defines the support portion lumen and plunger extends within the support portion lumen, such that the plunger and the support portion define a syringe-type device. In some examples, the plunger includes a plunger flange configured to receive the first force (e.g., from the clinician).

[0044] In some examples, the delivery device is configured such that a clinician may impart the first force to the plunger (e.g., to the plunger flange) using a first digit of their hand (e.g., a thumb) and impart the second force to the engagement member using another digit (e.g., an index finger and / or middle finger) of their hand, although this is not required. The engagement member may be configured to receive the second force from a structure configured to support the engagement member, to receive the second force in another manner from the clinician (e.g., a second hand of the clinician when the plunger flange receives the first force from a first hand of the clinician), and / or to receive the second force from another clinician. The delivery device is configured to enable the clinician to transfer the first force via the plunger, linking body, and a head portion to the IMD, such that the clinician may control the movement of the IMD using the first force.

[0045] In examples, the delivery device is configured to allow a clinician to determine and / or assess a position of the IMD within the receptacle volume of the device receptacle based on a position of the plunger relative to the support portion. For example, the support portion may provide one or more visual indications indicative of a position of the plunger relative to the support portion (e.g., similar to calibrated markings on a barrel of a syringe). The one or more visual indications may assist the clinician in assessing a likely position of the IMD within device receptacle prior to and / or during deployment of IMD from the device receptacle. For example, a first visual indication may correspond to a desired position of the IMD within the receptacle volume during delivery of the IMD to a target site. A second visual indication may be indicative of a position of the IMD when an attachment member of the IMD is expected to emerge (e.g., via a receptacle opening) from the device receptacle. A third visual indication may be indicative of aposition of the IMD when the IMD is expected to be substantially outside of the receptacle volume (e.g., distal to the receptacle opening). Hence, the one or more visual indications may assist a clinician in assessing and / or determining a position of the IMD within the device receptacle based on the position of the plunger relative to the support portion as indicated by the one or more visual indications.

[0046] The head portion may be configured to engage the IMD in an engagement configuration and disengage from the IMD in a disengagement configuration. The delivery system may be configured such that the head portion remains in the engagement configuration when the head portion is within the receptacle volume and transition from the engagement configuration to the disengagement configuration when the head portion exits the receptacle volume (e.g., moves distally through the receptacle opening). Hence, by controlling a position of the head portion relative to the receptacle opening (e.g., through control of the first force on the plunger flange), a clinician may cause the head portion to remain engaged with the IMD (e.g., to cause movement of the IMD), and may cause the head portion to substantially release the IMD (e.g., such that the delivery system may be displaced from an implanted IMD).

[0047] In examples, the elongate body includes a shapeable portion, although this is not required. The shapeable portion may be configured to define one or more curves in response to a bending force imparted (e.g., by a clinician) on the shapeable portion. The shapeable portion is configured to retain the one or more curves in the absence of the bending force (e.g., when the clinician ceases to impart the bending force). The definition and retention of one or more curves by the shapeable portion may assist in the delivery of the IMD over a transit path observed, visualized, and / or otherwise assessed by the clinician. For example, during an open heart surgery, when the clinician may be able to directly observe the heart, the clinician may observe, visualize, and / or otherwise assess a transit path that may be desired as the medical system delivers the IMD to a target site within the heart. The clinician may observe, visualize, and / or otherwise assess, for example, a transit path through a right atrium of the heart, through a tricuspid valve of the heart, and into a right ventricle of the heart which may be desired to position the device receptacle and / or IMD in proximity to the target site. The medical system is configured to allow the clinician to manipulate the shapeable portion to define and retain one or more curves based on the transit path observed, visualized, and / or otherwise assessed to ease a delivery of the IMD through the heart to the target site.

[0048] Hence, the delivery system is configured to control movement of an IMD relative to a device receptacle based on a force imparted (e.g., by a clinician) on a plunger of a delivery device. The plunger may be configured to receive the force from a clinician to allow the clinician to control movement of the IMD relative to the tissue of the patient. In examples, the deliverydevice includes one or more visual indications to assist the clinician in assessing and / or determining a position of the IMD within the device receptacle based on a position of the plunger relative to the support portion. The delivery system may be configured to engage with or disengage from the IMD based on a position of the head portion relative to the receptacle opening, such that a clinician may control the engagement and / or disengagement based on the force imparted to the plunger.

[0049] FIG. 1 is a conceptual diagram illustrating an example medical system 100 within a right atrium (“RA”) and a right ventricle (“RV”) of a heart 101. Heart 101 is depicted as a crosssection, with the cutting plane parallel to the page. Medical system 100 is configured to deliver and / or retrieve an implantable medical device 102 (“IMD 102”) to and / or from the vicinity of a target site 103 of heart 101. Medical system 100 includes a delivery system 105 including a delivery device 104 coupled to an elongate body 106. Elongate body 106 supports a device receptacle 108. Device receptacle 108 is configured to hold IMD 102 during delivery, deployment, and / or retrieval of IMD 102. In examples, IMD 102 includes an attachment member 109 configured to engage tissues within target site 103. Although FIG. 1 depicts delivery device 104 as a syringe-type device including a plunger 125 extending within a support portion lumen 128 defined by a support portion 127, this is not required. Plunger 125 and support portion 127 may be arranged in other manners in other examples.

[0050] Delivery system 105 is configured to deliver device receptacle 108 and / or IMD 102 to an anatomical volume of the patient (e.g., a chamber of heart 101, such as right ventricle (“RV”), right atrium (“RA”), left ventricle (“LV”), left atrium (“LA”), another anatomical volume of heart 101, and / or another anatomical volume of the patient). Optionally, delivery system 105 (e.g. device receptacle 108 and / or IMD 102) may be advanced to the anatomical volume of the patient through a surrounding tubular member (not shown), such as a sheath or guide catheter, which may be placed with its distal end in the anatomical volume before delivery system 105 (e.g. device receptacle 108 and / or IMD 102) is advanced through the surrounding tubular member.

[0051] Elongate body 106 is configured to (e.g., under the influence of a clinician) position device receptacle 108 and IMD 102 in proximity to target site 103. In some examples, elongate body 106 is configured to deliver and / or retrieve device receptacle 108 and / or IMD 102 via an access 146 to an interior of heart 101 created by a clinician during a surgical procedure (e.g., an atriotomy). For example, the clinician may create access 146 substantially through an outer wall of heart 101 during a surgical procedure such as an open-heart surgery or another surgical procedure. In other examples, for example during a minimally invasive heart surgery, elongate body 106 may be configured to deliver and / or retrieve device receptacle 108 and / or IMD 102 viaanother route and / or other access. Elongate body 106 may be configured to deliver device receptacle 108 (e.g., via access 146) through the RA of heart 101, through a tricuspid valve (TV) of heart 101, and into the RV of heart 101 to position device receptacle 108 and / or IMD 102 in proximity to a target site such as target site 103. In examples, target site 103 is a site in a low septal wall of the RV. In some examples, target site 103 is elsewhere within heart 101, such as within the RA. In some examples, target site 103 is in the Triangle of Koch (TOK) of heart 101, the Left Bundle Branch (LBB), or another portion of heart 101. In some examples, target site 103 is on the epicardium of heart 101, and / or elsewhere in the body of the patient.

[0052] In examples, elongate body 106 includes a distal portion 142 (“elongate body distal portion 142”) configured to position intracorporeal to the patient and / or intracardiac to heart 101. Elongate body 106 may include a proximal portion 144 (“elongate body proximal portion 144”) which may be configured to position extracorporeal to the patient and / or extracardiac to heart 101 (e.g., outside of a chamber of heart 101) when elongate body distal portion 142 is positioned intracorporeal to the patient and / or intracardiac to heart 101. Elongate body 106 defines a lumen 140 (“elongate body lumen 140”) extending from delivery device 104 to device receptacle 108. In examples, elongate body distal portion 142 supports (e.g., is attached to and / or is a substantially unitary component with) device receptacle 108. In examples, elongate body proximal portion 144 supports (e.g., is attached to and / or is a substantially unitary component with) support portion body 132.

[0053] Device receptacle 108 includes a wall 113 (“receptacle wall 113”) defining a receptacle volume 112 configured to hold and / or support IMD 102 during the delivery, deployment, and / or retrieval of IMD 102. Device receptacle 108 (e.g., receptacle wall 113) may define a receptacle opening 111 which opens into receptacle volume 112. Receptacle opening 111 may be, for example, at a distal end 110 of device receptacle 108 (“receptacle distal end 110”). Receptacle opening 111 may be configured to allow at least IMD 102 to pass therethrough. In FIG. 1, receptacle wall 113 comprises a substantially transparent material, such that IMD 102 is visible within receptacle volume 112 through receptacle wall 113, although this is not required. Receptacle wall 113 may comprise a substantially opaque material. Further, although IMD 102 and attachment member 109 are depicted as extending distal to receptacle opening 111 in FIG. 1 (e.g., as might occur during an implantation of IMD 102), receptacle volume 112 may be configured such that IMD 102 and / or attachment member 109 are proximal to receptacle opening 111 (e.g., as might be desired during delivery of IMD 102 to target site 103). In examples, delivery of IMD 102 by medical system 100 can be performed with IMD 102 “preloaded” or present within device receptacle 108 during advancement of medical system 100 to the anatomical volume.

[0054] Delivery system 105 may be configured to allow IMD 102 to pass in a distal direction D from a position within receptacle volume 112 to a position distal to receptacle distal end 110 via receptacle opening 111. Delivery system 105 may be configured to allow IMD 102 to pass in a proximal direction P from a position distal to receptacle distal end 110 to the position within receptacle volume 112 via receptacle opening 111. In examples, medical system 100 is configured to deploy IMD 102 from device receptacle 108 (e.g., from a position within receptacle volume 112) and through receptacle opening 111 to cause IMD 102 to engage tissues (e.g., using attachment member 109) at or in proximity to target site 103. In some examples, medical system 100 may be configured to cause IMD 102 to disengage from tissues within target site 103 to, for example, retrieve IMD 102 from and / or reposition IMD 102 within heart 101.

[0055] Delivery system 105 is configured to impart a force in the distal direction D to IMD 102 to cause IMD 102 to move distally relative to device receptacle 108 (e.g., receptacle wall 113). In examples, delivery system 105 is configured to impart the force in the proximal direction P to IMD 102 to cause IMD 102 to move proximally relative to device receptacle 108 (e.g., receptacle wall 113). Delivery system 105 may be configured to impart the force in the distal direction D to IMD 102 to cause IMD 102 to move distally relative to device receptacle 108 (e.g., receptacle wall 113). Delivery system 105 may be configured to impart the force in the distal direction D to cause IMD 102 to move distally through receptacle opening 111, and / or impart the force in the proximal direction P to cause IMD 102 to move proximally through receptacle opening 111.

[0056] Delivery device 104 is configured to receive the force (e.g., a force F) which delivery system 105 imparts to IMD 102. In examples, delivery device 104 is configured such that a clinician may impart force F on delivery device 104 to cause delivery system 105 to impart the force F to IMD 102, and thereby cause movement of IMD 102 relative to device receptacle 108. For example (e.g., during an implantation procedure), the clinician may impart force F in the distal direction D on delivery device 104 to cause movement of IMD 102 in the distal direction D toward and / or through receptacle opening 111. Delivery device 104 is configured such that continued movement of IMD 102 (e.g., in the distal direction D) is substantially dependent on continued impartation of force F on delivery device 104 such that, for example, the clinician imparting force F may substantially control the movement of IMD 102.

[0057] In FIG. 1, force F is illustrated as a force in the distal direction D for illustration, however force F may be imparted to delivery device 104 in either of the distal direction D or the proximal direction P. Delivery device 104 is configured such that a clinician may control the movement of IMD 102 at least within device receptacle 108 by controlling the direction of force F imparted to delivery device 104.

[0058] For example, the clinician may commence impartation of force F on delivery device 104 in the distal direction D to commence movement of IMD 102 relative to receptacle wall 113 and toward receptacle opening 111 (and, e.g., toward target site 103). The clinician may continue to impart force F to continue the movement of IMD 102. The clinician may cease imparting force F to cease the movement of IMD 102 to, for example, assess the progress of IMD 102 toward target site 103 and / or reposition device receptacle 108 and / or IMD 102. In examples, delivery device 104 is configured such that imparting force F on delivery device 104 in the proximal direction P causes IMD 102 to withdraw proximally into receptacle volume 112 (e.g., away from receptacle opening 111). Hence, delivery system 105 may be configured such that a clinician may control the movement of IMD 102 (e.g., in the distal direction D and in the proximal direction P) relative to receptacle wall 113 through control of force F imparted to delivery device 104.

[0059] Delivery device 104 includes a plunger 125 and a support portion 127. In examples, plunger 125 extends at least partially within a support portion lumen 128 defined by support portion 127. Delivery device 104 is configured to receive force F (e.g., from a clinician) via plunger 125. Plunger 125 is configured to displace relative to support portion 127 when plunger receives force F. For example, plunger 125 may be configured to displace in the distal direction D relative to support portion 127 when delivery device 104 receives force F in the distal direction D (as depicted in FIG. 1). Plunger 125 may be configured to displace in the proximal direction P relative to support portion 127 when delivery device 104 receives force F in the proximal direction P (e.g., in a direction opposite that depicted in FIG. 1). Support portion 127 may be configured to support (e.g., contact) plunger 125. In examples, support portion 127 is configured to continue to support plunger 125 (e.g., to substantially maintain contact with plunger 125) as plunger 125 displaces relative to support portion 127.

[0060] Plunger body 124 is configured to transfer force F to a linking system 133. Linking system 133 is configured to transfer force F to IMD 102 to, for example, cause IMD 102 to move in the distal direction D or the proximal direction P relative to device receptacle 108 (e.g.. receptacle wall 113). In examples, linking system 133 includes a linking body 134 (depicted with dashed line in FIG. 1) configured to extend from plunger body 124 to a head portion 136. Linking body 134 is configured to extend through elongate body lumen 140. In some examples, when support portion 127 defines support portion lumen 128, linking body 134 may be configured to extend into support portion lumen 128 (e.g., in addition to extending through elongate body lumen 140). In some examples, tether body 124 is configured to extend into receptacle volume 112 (e.g., in addition to extending through elongate body lumen 140). Linking body 134 may be configured to receive force F from plunger body 124 and transfer force F fromplunger body 124 to head portion 136.

[0061] Head portion 136 may be configured to impart force F to IMD 102 to cause movement of IMD 102 relative to receptacle wall 113. For example, linking system 133 (e.g., head portion 136) may be configured to substantially push IMD 102 in a direction toward receptacle opening 111 when plunger body 124 receives force F in the distal direction D. Linking system 133 (e.g., head portion 136) may be configured to substantially pull IMD 102 in a direction away from receptacle opening 111 when plunger body 124 receives force F in the proximal direction P.

[0062] It is understood that force F refers to a force imparted to delivery device 104 (e.g., by a clinician and / or another device) and transferred to tether system 133 such that head portion 136 experiences force F. In examples, force F is a first force component of a total force imparted to delivery device 104. The total force may include additional force components in addition to the first force component, some of which may have the same direction as the first force component and some of which may a direction different from the first force component. The total force may be a vector summation of the first force component and the additional force components. For example, the total force imparted to delivery device 104 may include the first force component as well as additional force components which act in substantially the same direction as the first force component, but which perform work in the form of overcoming resisting frictional forces, overcoming hysteresis of one or more components, or overcoming other losses which may be present when delivery device 104 transfers the first force component (e.g., force F) from delivery device 104 to head portion 136. The total force imparted to delivery device 104 may include additional force components which act in directions different from the first force component, such as additional force components which act in directions substantially perpendicular to plunger body 124 and / or longitudinal axis L.

[0063] In examples, plunger 125 and support portion 127 define a syringe-type device configured to enable the impartation of force F on plunger 125. For example, plunger 125 may include a plunger flange 126 coupled to a proximal end of a plunger body 124 extending at least partially within support portion lumen 128. Support portion 127 may include an engagement member 130 coupled to a support portion body 132 of support portion 127 (“support portion body 132”). Engagement member 130 may be configured to receive a second force F2 in a direction substantially opposite force F when plunger flange 126 receives force F. Engagement member 130 may receive second force F2 to cause and / or assist in the movement of plunger body 124 relative to support portion body 132 when plunger flange 126 receives force F. Engagement member 130 may be configured to transfer second force F2 to support portion body 132 to, for example, provide a counter force (e.g., a counter traction) to support portion body 132 as plungerbody 124 displaces relative to support portion body 132.

[0064] In some examples, delivery device 104 is configured such that a clinician may impart force F to plunger flange 126 using a first digit of their hand (e.g., a thumb) and impart second force F2 to engagement member 130 using another digit (e.g., an index finger and / or middle finger) of their hand. In other examples, engagement member 130 and / or support portion body 132 may be configured to receive second force F2 in other manners. For example, engagement member 130 and / or support portion body 132 may be configured to receive second force F2 from a structure configured to support engagement member 130 and / or support portion body 132, and / or receive second force F2 from another clinician. In some examples, delivery device 104 is configured such that a clinician’s first hand (e.g., a right hand or a left hand) may impart force F as the clinician’s second hand (the other of the right hand or the left hand) imparts second force F2.

[0065] Delivery system 105 may define a longitudinal axis L extending through support portion lumen 128, through elongate body lumen 140, and into receptacle volume 112. In examples, longitudinal axis L intersects a distal end 154 of plunger body 124 (“plunger body distal end 154”) and intersects receptacle opening 111. Longitudinal axis L (and / or portions thereof) may be linear, curved, and / or curvilinear. For example, when elongate body 106 and / or elongate lumen 140 define a path defining one or more curves (e.g., curve CV1, curve CV2, and / or fixed curve FC), longitudinal axis L may be curved and / or curvilinear over the one or more curves. The distal direction D and / or the proximal direction P may refer to a direction substantially along some portion of longitudinal axis L.

[0066] In examples, linking body 134 is configured to move laterally (e.g., translate substantially along a path defined by longitudinal axis L) within elongate body lumen 140 when linking body 134 transfers force F from plunger body 124 to head portion 136. For example, linking body 134 may be configured to move laterally within elongate body lumen 140 and relative to elongate body 106 when plunger body 124 displaces relative to support portion body 132 (e.g., when plunger body 124 receives force F). Head portion 136 may be configured to move laterally relative to receptacle wall 113 when linking body 134 displaces relative to support portion body 132. In some examples, linking body 134 is be configured to rotate (e.g., about longitudinal axis L) at least within elongate body lumen 140 when plunger body 124 imparts a rotational torque on linking body 134. Head portion 136 may be configured to transfer the torque to IMD 102 to cause IMD 102 to rotate (e.g., within receptacle volume 112) relative to receptacle wall 113.

[0067] In examples, head portion 136 is configured to engage IMD 102 in an engagement configuration and disengage from IMD 102 in a disengagement configuration. Head portion 136may be configured to establish and remain in the engagement configuration when head portion 136 is within receptacle volume 112. Head portion 136 may be configured to transition from the engagement configuration to the disengagement configuration when head portion 136 exits receptacle volume 112 (e.g., via receptacle opening 111). Hence, delivery system 105 may be configured such that head portion 136 remains engaged with IMD 102 within receptacle volume 112 (e.g., such that delivery system 105 may cause motion of IMD 102 in both the distal direction D and the proximal direction P), and such that head portion 136 disengages from IMD 102 when head portion 136 exits receptacle volume 112 (e.g., such that head portion 136 substantially releases IMD 102). Thus, based on a position of head portion 136 relative to receptacle opening 111, a clinician may cause head portion 136 to remain engaged with IMD 102 (such that plunger body 124 causes movement of IMD 102), and may cause head portion 136 to substantially release IMD 102 (such that head portion 136 may be displaced from IMD 102).

[0068] For example, in the engagement configuration, head portion 136 may be configured impart a force on IMD 102 in either the distal direction D or the proximal direction P, depending on the direction of force F received by linking body 134 (e.g., received from plunger body 124). Stated similarly, when head portion 136 is in the engagement configuration, head portion 136 may be configured to transmit a force in the distal direction D to IMD 102 in response to a force in the distal direction D transferred by linking body 134, and also configured to transmit a force in the proximal direction P to IMD 102 in response to a force in the proximal direction P transferred by linking body 134. Hence, with head portion 136 in the engagement configuration, delivery system 105 may be configured to impart a force to IMD 102 in the distal direction D or in the proximal direction P, depending on a direction of a force applied (e.g., by the clinician) to plunger body 124.

[0069] In the disengagement configuration, head portion 136 may be configured to disengage from IMD 102 such that, for example, a force transferred to head portion 136 tends to cause a displacement of head portion 136 relative to IMD 102, and / or causes a movement of head portion 136 relative to IMD 102 greater than a movement of head portion 136 relative to IMD 102 which would occur if head portion 136 was in the engagement configuration rather than in the disengagement configuration. For example, head portion 136 may be configured such that, with head portion 136 in the disengagement configuration, a force in the proximal direction P imparted from linking body 134 to head portion 136 causes head portion 136 to displace proximally from IMD 102.

[0070] In examples, receptacle wall 113 is configured to hold head portion 136 in the engagement configuration when head portion 136 is within receptacle volume 112 (e.g., proximal to receptacle opening 111). For example, head portion 136 may be resiliently biased to assumethe disengagement configuration. Head portion 136 may be configured such that the resilient biasing causes head portion 136 to contact and exert a force on receptacle wall 113 when head portion 136 is in the engagement configuration and within receptacle volume 112. Receptacle wall 113 may be configured to exert a reaction force on head portion 136 to resist the resilient biasing and cause head portion 136 to remain in the engagement configuration. Receptacle wall 113 may be configured to exert the reaction force as head portion 136 moves relative to receptacle wall 113, such that head portion 136 remains in the engagement configuration as head portion 136 (and, e.g., IMD 102) moves in the distal direction D or the proximal direction P within receptacle volume 112. Hence, head portion 136 may be configured such that contact with receptacle wall 113 (e.g., when head portion 136 is within receptacle volume 112) causes head portion 136 to remain in the engagement configuration. Head portion 136 may be configured such that a break in contact with receptacle wall 113 (e.g., when head portion 136 is distal to receptacle opening 111) causes head portion 136 to transition to the disengagement configuration.

[0071] In examples, attachment member 109 defines one or more tines or other structures configured to engage tissue within target site 103 when a force is imparted to IMD 102 (e.g., a force in the distal direction D). Medical system 100 (e.g., linking body 134 and / or head portion 136) may be configured to impart the force to IMD 102 to cause attachment member 109 to engage tissues (e.g., tissue within target site 103). In examples, linking body 134 is configured to receive the force (e.g., from a clinician) and transfer the force to IMD 102 (e.g., via head portion 136 or another portion of linking system 133). Attachment member 109 may be configured to disengage from tissues of target site 103 when a force in the proximal direction P is imparted to IMD 102. In some examples, attachment member 109 defines a helix or other structure configured to engage tissue within target site 103 when a torque is imparted to IMD 102 (e.g., a torque about longitudinal axis L). Medical system 100 (e.g., linking body 134 and / or head portion 136) may be configured to impart the torque to IMD 102 (e.g., a torque exerted by a clinician) to cause attachment member 109 to engage tissues.

[0072] Thus, with head portion 136 in the engagement configuration, the clinician may use delivery system 105 to impart a force in the distal direction D to displace at least attachment member 109 through receptacle opening 111 and cause attachment member 109 to engage tissues at target site 103. The clinician may use delivery system 105 to retain head portion 136 within receptacle volume 112 following the engagement of attachment member 109, such that the clinician may use delivery system 105 to impart a force in the proximal direction P on IMD 102 to evaluate the engagement of attachment member 109 with the tissues (e.g., to conduct a tug test). Subsequent to a satisfactory tug test, the clinician may cause head portion 136 to displacedistal to receptacle opening 111 to cause head portion 136 to substantially release IMD 102, such that delivery system 105 may be proximally withdrawn from IMD 102.

[0073] Delivery system 105 can be used to, e.g., advance IMD 102 distally from device receptacle 108, through receptacle opening 111, to deploy IMD 102 into an anatomical volume. Delivery system 105 can also be used to, e.g., extract and / or retract IMD 102 from the anatomical volume, through receptacle opening 111, into device receptacle 108. Delivery system 105 and / or component s) thereof, such as elongate body 106 and / or linking body 134, can comprise any suitable catheter or elongate member. Delivery system 105, linking body 134 and / or head portion 136 can possess sufficient column strength or “pushability” to advance IMD 102 distally from device receptacle 108, e.g., in the process of deployment, and / or, in some embodiments, to advance IMD 102, or linking system 133 itself without IMD 102 attached thereto, along the length of elongate body 106 including elongate body proximal portion 144 and elongate body distal portion 142 thereof. Delivery system 105, linking body 134 and / or head portion 136 may possess sufficient tensile strength to extract and / or retract IMD 102 from the anatomical volume, through receptacle opening 111, into device receptacle 108, and / or, in some embodiments, through the length of elongate body 106 including elongate body proximal portion 144 and elongate body distal portion 142 thereof. Delivery system 105, linking body 134 and / or head portion 136 may possess sufficient torque transmission capability to screw and / or unscrew IMD 102 into target tissue in the anatomical volume. Where IMD 102 is attached to target tissue without need for screwing or rotating (e.g. where IMD 102 is fixated via one or more tines), or where other component(s) perform the screwing / unscrewing function, Delivery system 105, linking body 134 and / or head portion 136 need not possess this capability.

[0074] In some examples, device receptacle 108 is configured to cause IMD 102 to translate (e.g., in the distal direction D or the proximal direction P) when delivery system 105 imparts a torque to IMD 102. For example, device receptacle 108 may define a set of threads (e.g., internal threads on a boundary of receptacle volume 112) configured to substantially mate with a portion of IMD 102 and / or a portion of head portion 136. The set of threads may be configured to cause IMD 102 and / or head portion 136 to translate relative to device receptacle 108 (e.g., receptacle wall 113) when delivery system 105 imparts the torque to IMD 102.

[0075] Head portion 136 may comprise any suitable mating interface or abutment coupled to, or formed on or in, linking system 133 and configured to mate with, receive and / or abut IMD 102 (e.g., a proximal portion of IMD 102). Head portion 136 may be configured to provide a releasable attachment of IMD 102 to linking system 133. In some examples, head portion 136 may be implemented via one or more releasable, removable, retractable or severable string(s), filament(s), thread(s), etc., or one or more snare(s) to provide a releasable attachment of IMD102 to linking system 133. Such string(s), filament(s), thread(s), snare(s), etc. can grip, loop through, anchor within, or otherwise interact with IMD 102 (e.g., a proximal portion of IMD 102) to facilitate such releasable attachment.

[0076] In examples, delivery device 104 is configured to allow a clinician to determine a position of head portion 136 and / or IMD 102 relative to receptacle wall 113 based on a position of plunger body 124 relative to support portion body 132. For example, support portion body 132 may be configured to provide a visual indication indicative of a position of plunger body 124 relative to support portion body 132. The visual indication may assist a clinician in assessing a likely position of head portion 136 and / or IMD 102 within receptacle volume 112 prior to and / or during deployment of IMD 102 from device receptacle 108. In examples, at least some portion of receptacle wall 113 is transparent and / or windowed, such that at least some portion of plunger body 124 is visible to the clinician as plunger body 124 positions relative to support portion body 132. IMD 102 is positioned within device receptacle 108. In examples, delivery device 104 is configured to allow a clinician to observe a position of plunger body 124 relative to support portion body 132 to assist the clinician in determining one or more stages of deployment of IMD 102 from device receptacle 108.

[0077] As an example, delivery device 104 (e.g., support portion body 132) may define one or more marks such as first mark Ml, second mark M2, third mark M3, and / or other marks. A mark of the one or more marks may correspond to a specific position of head portion 136 within receptacle volume 112 when some portion of plunger body 124 (e.g., plunger body distal end 154) corresponds with and / or is substantially even with the mark. The specific position of head portion 136 may correspond to a particular IMD position of IMD 102 within receptacle volume 112 when head portion 136 is engaged with IMD 102. Hence, delivery device 104 may be configured such that the one or more marks substantially correspond to the particular IMD position. Thus, delivery device 104 may be configured such that the one or more marks assist a clinician in assessing and / or determining a position of IMD 102 within device receptacle 112 based on the position of plunger body 124 relative to support portion body 132 indicated by the one or more marks.

[0078] For example, first mark Ml might correspond to a first position of head portion 136 causing IMD 102 to assume a first IMD position indicative of, for example, a desired position of IMD 102 within device receptacle 108 as delivery system 105 delivers IMD 102 toward target site 103. First mark Ml may be configured to assist a clinician in assessing and / or determining that IMD 102 is in the desired position (e.g., a position where attachment member 109 is substantially proximal to receptacle opening 111). Second mark M2 might correspond to a second position of head portion 136 causing IMD 102 to assume a second IMD positionindicative of, for example, attachment member 109 having substantially extended distal to receptacle opening 111. Second mark M2 may be configured to assist a clinician in assessing and / or determining that attachment member 109 may be engaged with tissues within target site 103. Third mark M3 might correspond to a third position of head portion 136 wherein, for example, head portion 136 tends to disengage from IMD 102 (e.g., transitions from the engagement configuration to the disengagement configuration). Third mark M3 (or, e.g., another mark between second mark M2 and third mark M3) may be configured to indicate to a clinician that a tug test based on engagement of head portion 136 and IMD 102 may need to be performed prior to the portion of plunger body 124 (e.g., a plunger body distal end 154) corresponding with or being distal to mark M3. Delivery device 104 (e.g., support portion body 132) may define other marks configured to assist a clinician in assessing and / or determining a position of IMD 102 within receptacle volume 112 and / or a deployment state of IMD 102.

[0079] For example, in addition to or instead of first mark Ml, second mark M2, and / or third mark M3, delivery device 104 may define one or more additional marks indicative of IMD 102 being in a fully proximal (e.g., retracted) position within device receptacle 108, indicative of an attachment member 109 of IMD 102 beginning to exit device receptacle 108 (e.g., via receptacle opening 111), indicative of a helical member of attachment member 109 extending distal to receptacle opening 111, indicative of IMD 102 being in a position relative to device receptacle 108 (e.g., receptacle opening 111) wherein a tug test may be applicable, indicative of head portion 136 being distal to receptacle opening 111, and / or other indicative of other orientations, positions, and / or states of IMD 102, head portion 136, and / or other portions of medical system 100.

[0080] In some examples, elongate body 106 includes a shapeable body 148 configured to be bendable (e.g., by a clinician) to ease and / or direct a transit of elongate body 106 through one or more anatomical volumes defined by a patient. Elongate body lumen 140 may extend through shapeable body 148. In some examples, shapeable body 148 comprises a portion of elongate body 106. In some examples, shapeable body 148 comprises substantially all of elongate body 106. Shapeable body 148 may extend from a proximal end 150 of shapeable body 148 (“shapeable body proximal end 150”) to a distal end 152 of shapeable body 148 (“shapeable body distal end 152”). In examples (e.g., when shapeable body 148 comprises substantially all of elongate body 106), shapeable body proximal end 150 defines a proximal end of elongate body 106 and / or shapeable body distal end 152 defines a distal end of elongate body 106. In examples, shapeable body 148 defines a length (e.g., from shapeable body proximal end 150 to receptacle distal end 110) of from about 4 inches and to about 14 inches, in some examples from 6 inches to about 9 inches. Shapeable body 148 may define other lengths (e.g., from shapeablebody proximal end 150 to receptacle distal end 110) in other examples.

[0081] Shapeable body 148 is configured to define one or more curves in response to the bending (e.g., by the clinician). Shapeable body 148 is configured to retain the one or more curves caused by the bending as elongate body 106 transits through the one or more anatomical volumes. For example, shapeable body 148 may be caused (e.g., through application of a bending force by the clinician) to define a first curve CV1 and / or a second curve CV2 to ease the transit of elongate body 106 (e.g., a transit through the RA, the TV, into the RV, and into proximity of target site 103 of heart 101). Elongate body 106 (e.g., shapeable body 148) is configured to retain first curve CV1 and / or a second curve CV2 during the transit of elongate body 106.

[0082] The retention of curves by shapeable body 148 allows elongate body 106 to substantially mimic a particular transit path of elongate body 106 that may be desired to place device receptacle 108 and / or 102 within proximity to target site 103 within a patient, and / or minimize a potential for interference with other anatomical structures (e.g., the TV) during a delivery. For example, the particular transit path may be a path visualized, observed, and / or otherwise assessed by a clinician in order to place device receptacle 108 and / or 102 within proximity to target site 103. Elongate body 106 is configured such that the clinician may apply bending forces to shapeable body 148 to generate, for example, curve CV1 and / or curve CV2, such that elongate body 106 substantially mimics the particular transit path visualized, observed, and / or otherwise assessed. Elongate body 106 (e.g., shapeable body 148) is configured to retain the curves (e.g., curve CV1 and / or curve CV2) generated by the clinician as the clinician causes elongate body 106 to transit toward target site 103 (e.g., via access 146).

[0083] Tether system 133 (e.g., linking body 134 and / or head portion 136) may be configured to extend through elongate body lumen 140 and transfer force F from plunger body 124 to IMD 102 when shapeable body 148 defines first curve CV1 and / or second curve CV2. Linking system 133 (e.g., linking body 134) may be configured to move laterally (e.g., slidably translate) within elongate body lumen 140 when shapeable body 148 defines first curve CV1 and / or second curve CV2. In examples, linking body 134 may be configured to rotate within elongate body lumen 140 when plunger body 124 imparts a rotational torque on linking body 134 and shapeable body 148 defines first curve CV1 and / or second curve CV2.

[0084] In some examples, delivery system 105 may include a pre-shaped, fixed curve configured to assist in the delivery of IMD 102 and / or device receptacle 108 to target site 103. For example, elongate body 106 and / or shapeable body 148 may define a fixed curve FC (e.g., a J-shaped curve) configured to assist in the delivery of IMD 102. Fixed curve FC may be based on an orientation of device receptacle 108 and / or IMD 102 expected to be favorable when medical system 100 delivers device receptacle 108 and / or IMD 102 using a particular transit path. Forexample, fixed curve FC may be configured to generally orient device receptacle 108 such that receptacle distal end 110 substantially faces toward the septal wall (SW) of heart 101 when the particular transit path defines a path into the RV via the TV.

[0085] As used herein, and with respect to plunger body 124, the distal direction D may refer to a direction along longitudinal axis L from support portion 127 toward elongate body 106, and / or the proximal direction P may refer to a direction along longitudinal axis L from elongate body 106 toward support portion 127. With respect to linking body 134, the distal direction D may refer to a direction along longitudinal axis L from elongate body proximal portion 144 toward elongate body distal portion 142, and / or the proximal direction P may refer to a direction along longitudinal axis L from elongate body distal portion 142 toward elongate body proximal portion 144. With respect to head portion 136 and / or IMD 102, the distal direction D may refer to a direction along longitudinal axis L from elongate body distal portion 142 toward device receptacle 108, and / or the proximal direction P may refer to a direction along longitudinal axis L from device receptacle 108 to elongate body distal portion 142. A direction along longitudinal axis L may refer to a direction of a unit vector co-planer with a portion of longitudinal axis L and coincident with or tangent to the portion of longitudinal axis L.

[0086] Although the examples herein discuss delivery, retrieval, and / or positioning of IMD 102 within the RV of heart 101, medical system 100 may be configured to deliver, retrieve, and / or position IMD 102 in any of the other chambers of heart 101 and / or in other anatomical volumes of a patient in a like manner as that described for the RV of heart 101. Further, although the examples herein discuss target site 103 as a target site substantially on or within lower septal wall of heart 101, medical system 100 may be configured to deliver device receptacle 108 and / or IMD 102 in proximity to a target site in any portion of heart 101, and may be configured to retrieve IMD 102 from any portion of heart 101. Further, although the examples herein discuss transit of elongate body 106 via access 146, elongate body 106 may transit via other accesses, including accesses naturally defined by a patient and accesses naturally formed by the body of the patient.

[0087] Hence, delivery system 105 is configured such that a clinician may control the movement of IMD 102 within receptacle volume 112 through control of force F imparted to delivery device 104. Delivery system 105 includes delivery device 104 configured to allow the clinician to control the force F. The clinician may impart force F on delivery device 104 in the distal direction D to cause at least some portion of IMD 102 to move in a direction toward receptacle opening 111. The clinician may impart a force in a direction opposite force F (or, in some examples, reduce a magnitude of force F relative to force FS (FIG. 3, FIG. 4)) in delivery device 104 to cause at least some portion of IMD 102 to move in a direction away fromreceptacle opening 111.

[0088] In the examples below, although FIGS. 2-5 depict support portion 127 defining support portion lumen 128 and plunger 125 extending within support portion lumen 128, this is not required. Plunger 125 may be configured to displace relative to support portion 127 in other manners in other examples, and / or support portion 127 may be configured to support plunger 125 (e.g., as plunger 125 displaces relative to support portion 127) in other manners in other examples.

[0089] FIG. 2 is a schematic illustration of delivery system 105 with plunger body 124 in a first plunger position relative to support portion body 132. In examples, the first plunger position is indicative of a position of plunger body 124 (e.g., plunger body distal end 154) relative to a fixed point FP defined by support portion body 132. Linking body 134 extends through elongate body lumen 140 from plunger body 124 (e.g., plunger body distal end 154) to head portion 136. In the depiction of FIG. 2, device receptacle 108 is positioned such that receptacle opening 111 is in proximity to or in contact with a tissue wall 162 (e.g., a ventricular septum of heart 101) which includes target site 103, although this is not required. In FIG. 2 (and in FIG. 3 and FIG. 4 discussed below), elongate body 106 extends from support portion body 132 to device receptacle 108. Linking body 134 and / or longitudinal axis L extend through elongate body lumen 140. Support portion body 132, elongate body 106, and device receptacle 108 are depicted as crosssections in FIG. 2, FIG. 3, and FIG. 4, with a cutting plane parallel to the page.

[0090] With plunger body 124 in the first plunger position of FIG. 2, head portion 136 is in a first head position within receptacle volume 112 and relative to device receptacle 108. In examples, the first head position is indicative of a position of a portion of head portion 136 (e.g., a distal end 137 of head portion 136 (“head portion distal end 137”)) relative to a fixed point FP defined by device receptacle 108. In the first head position, head portion 136 is in the engagement configuration (e.g., such that head portion 136 engages IMD 102. In some examples, when head portion 136 is in the first head position, IMD 102 is configured to position within receptacle volume 112 such that a distal end 160 of attachment member 109 (“attachment distal end 160”) is proximal to or substantially even with receptacle opening 111. In examples, the first plunger position and / or the first head position are indicative of a position of plunger body 124 and / or a position of head portion 136 when delivery system 105 is in a delivery configuration. In examples, a proximity of some portion of plunger body 124 (e.g., plunger distal end 154) to first mark Ml or another mark defined by support portion body 132 is indicative of plunger body 124 being substantially in the first plunger position and / or head portion 136 being substantially in the first head position.

[0091] In examples, for example when support portion body 132 defines support portionlumen 128, plunger body 124 may extend at least partially within support portion lumen 128. Plunger body 124 is configured to displace relative to support portion body 132 (and, in some examples, within support portion lumen 128) in the distal direction D and / or in the proximal direction P when a force (e.g., force F (FIG. 1) is imparted to plunger body 124. Plunger body 124 is configured to transfer the force to linking body 134. Linking body 134 is configured to transfer the force to head portion 136. Head portion 136 is configured to impart the force to IMD 102 to cause movement of IMD 102 relative to device receptacle 108 in the distal direction D and / or in the proximal direction P. For example, when plunger body 124 transfers the force in the distal direction D to linking body 134, head portion 136 may be configured to impart the force to cause IMD 102 to move in the distal direction D relative to device receptacle 108. When plunger body 124 transfers the force in the proximal direction P to linking body 134, head portion 136 may be configured to impart the force to cause IMD 102 to move in the proximal direction P relative to device receptacle 108.

[0092] Linking body 134 may be configured to move laterally within elongate lumen 140 and relative to elongate body 106 when plunger body 124 displaces relative to support portion body 132 (e.g., when plunger body 124 transfers the force to linking body 134). Head portion 136 may be configured to move within receptacle volume 112 and relative to device receptacle 108 when linking body 134 moves laterally with respect to elongate body 106 (e.g., when linking body 134 transfers the force to head portion 136). IMD 102 may be configured to move within receptacle volume 112 and relative to device receptacle 108 when head portion 136 moves with respect to device receptacle 108 (e.g., when head portion 136 imparts the force to IMD 102). Plunger body 124 may be configured to receive the force (e.g., via plunger flange 126) from a clinician or another device controlled by the clinician, such that the clinician may control the movement of IMD 102 relative to device receptacle 108.

[0093] For example, FIG. 3 is a schematic illustration of delivery system 105 with plunger body 124 in a second plunger position relative to support portion body 132. Plunger body 124 may transition from the first plunger position of FIG. 2 to the second plunger position of FIG. 3 in response to force F received by (e.g., imparted on) plunger body 124. In examples, plunger body 124 is configured to cause at least some portion of plunger body 124 (e.g., plunger body distal end 154) to displace relative to support portion body 132 over a distance DB1 when plunger body 124 transitions from the first plunger position to the second plunger position (e.g., in response to the force F). The second plunger position may be indicative of a position of plunger body 124 (e.g., plunger body distal end 154) relative to fixed point FP. In examples, when force F is a force in the distal direction D, the second plunger position is distal to the first plunger position.

[0094] Plunger body 124 transfers force F to linking body 134 when plunger body 124 transitions from the first plunger position (FIG. 2) to the second plunger position (FIG. 3). Linking body 134 is configured to move laterally relative to elongate body 106 (e.g., within elongate lumen 140) when linking body 134 transfers force F from plunger body 124 to head portion 136 (e.g., as plunger body 124 transitions from the first plunger position to the second plunger position). Head portion 136 is configured to transition from the first head position of FIG. 2 to a second head position (e.g., depicted in FIG. 3) when linking body 134 transfers force F to head portion 136 (e.g., when linking body 134 moves laterally relative to elongate body 106).

[0095] Linking body 134 may be configured to cause the portion of head portion 136 to displace relative to device receptacle 108 over a distance DH1 when plunger body 124 transitions from the first plunger position to the second plunger position (e.g., when plunger body 124 displaces relative to support portion body 132 over the distance DB1). In examples, the second head position is indicative of a position of the portion of head portion 136 (e.g., head portion distal end 137) relative to fixed point FR.

[0096] Similar to FIG. 1, although force F is illustrated as a force in the distal direction D for illustration, force F may be imparted (e.g., by a clinician) to plunger body 124 in the proximal direction P. Plunger body 124 may be configured to displace relative to support portion body 132 in the proximal direction P when force F is imparted on plunger body 124 in the proximal direction P. In examples, plunger body 124 is configured to displace from the second plunger position of FIG. 3 to the first plunger position of FIG. 2 when force F is imparted on plunger body 124 in the proximal direction P. Linking body 134 may be configured to move laterally relative to elongate body 106 (e.g., within elongate lumen 140) in the proximal direction P when linking body 134 transfers force F in the proximal direction P from plunger body 124 to head portion 136. Head portion 136 may be configured to displace relative to device receptacle 108 (e.g., receptacle wall 113) in the proximal direction P when linking body 134 transfers force F in the proximal direction P. In examples, head portion 136 is configured to displace from the second head position of FIG. 3 to the first head position of FIG. 2 when linking body 134 transfers force F in the proximal direction P.

[0097] In examples, head portion 136 is configured to assume the engagement configuration when head portion 136 is within receptacle volume 112 (e.g., when head portion 136 is in the first head position of FIG. 2 or in the second head position of FIG. 3). Hence, head portion 136 may be configured to impart forces on IMD 102 in either the distal direction D or the proximal direction P when head portion 136 is within receptacle volume 112. Thus, when head portion 136 is in the engagement configuration and linking body 134 transfers force F in the proximaldirection P, head portion 136 may impart force F in the proximal direction P to IMD 102 to, for example, cause movement of IMD 102 in the proximal direction P relative to device receptacle 108 (e.g., receptacle wall 113). In examples, head portion 136 is configured to transfer force F to a retrieval structure 139 of IMD 102. Head portion 136 may be configured to engage retrieval structure 139 in the engagement configuration and disengage from retrieval structure 139 in the disengagement configuration.

[0098] In some examples, when plunger body 124 is in the second plunger position or another plunger position and / or head portion 136 is in the second head position or another head position, IMD 102 is configured to position within receptacle volume 112 such that at least attachment distal end 160 is distal to receptacle opening 111. In some examples, when plunger body 124 is in the second plunger position or the other plunger position and / or head portion 136 is in the second head position or the other head position, IMD 102 is configured to position within receptacle volume 112 such that attachment member 109 is substantially distal to receptacle opening 111. Attachment member 109 may be configured to engage tissues of tissue wall 162 when attachment member 109 extends distal to receptacle opening 111. Hence, when the second position or other head position of head portion 136 allows attachment member 109 to engage tissues, a proximally directed force on plunger body 124 may cause head portion 136 to impart the proximally directed force on IMD 102 to assess the engagement of attachment member 109 with tissue wall 162 (e.g., to conduct a “tug test”).

[0099] FIG. 4 is a schematic illustration of delivery system 105 with plunger body 124 in a third plunger position relative to support portion body 132. With plunger body 124 in the third plunger position, head portion 136 is in a third head position relative to device receptacle 108 and in the disengagement configuration (e.g., such that head portion 136 substantially releases IMD 102). In examples, head portion 136 is distal to receptacle opening 111 in the third head position. In examples, head portion 136 is configured to transition from the engagement configuration (e.g., of FIG. 2 and FIG. 3) to the disengagement configuration of FIG. 4 when head portion 136 moves from the second head position to a position distal to receptacle opening 111 (e.g., the third head position). In examples, the third plunger position and / or the third head position are indicative of a position of plunger body 124 and / or a position of head portion 136 wherein head portion 136 is likely in the disengagement configuration, such that a force on plunger body 124 causes a displacement of head portion 136 from IMD 102 (e.g., such that delivery system 105 may be withdrawn from a patient following implantation of IMD 102).

[0100] Plunger body 124 may transition from the second plunger position of FIG. 3 to the third plunger position of FIG. 4 in response to force F on plunger body 124. In examples, plunger body 124 is configured to cause at least some portion of plunger body 124 (e.g., plunger bodydistal end 154) to displace relative to support portion body 132 over a distance DB2 when plunger body 124 transitions from the second plunger position to the third plunger position. In examples, the third plunger position is indicative of a position of plunger body 124 (e.g., plunger body distal end 154) relative to fixed point FP. In some examples, when force F is a force in the distal direction D, the third plunger position is distal to the second plunger position.

[0101] Head portion 136 is configured to transition from the second head position of FIG. 3 to a third head position when linking body 134 transfers force F to head portion 136 (e.g., when plunger body 124 transitions from the second plunger position to the third plunger position). In examples, linking body 134 is configured to cause a portion of head portion 136 (e.g., head portion distal end 137) to displace relative to device receptacle 108 over a distance DH2 when plunger body 124 transitions from the first plunger position to the second plunger position (e.g., when plunger body 124 displaces relative to support portion body 132 over the distance DB2). In examples, the third head position is indicative of a position of the portion of head portion 136 (e.g., head portion distal end 137) relative to fixed point FR.

[0102] It is understood that when head portion 136 moves in a direction (e.g., the distal direction D or the proximal direction P) relative to device receptacle 108, this may result from a movement of head portion 136 relative to a substantially fixed location (e.g., target site 103), a movement of device receptacle 108 relative to the substantially fixed location, or a combination of the movement of head portion 136 and the movement of device receptacle 108 relative to the substantially fixed location. For example, movement of head portion 136 in a first direction (e.g., one of the distal direction D or the proximal direction P) relative to device receptacle 108 may be caused by at least one of: head portion 136 moving in the first direction as device receptacle 108 is substantially stationary with respect to target site 103; device receptacle 108 moving in a second direction (e.g., the other of the distal direction D or the proximal direction P) as head portion 136 is substantially stationary with respect to target site 103; head portion 136 moving in the first direction as device receptacle 108 moves in the second direction; head portion 136 moving in the first direction at a greater rate than device receptacle 108 moves in the first direction, or; head portion 136 moving in the second direction at a lesser rate than device receptacle 108 moves in the second direction.

[0103] Likewise, when plunger body 124 moves in a direction (e.g., the distal direction D or the proximal direction P) relative to plunger body 124, this may result from a movement of plunger body 124 relative to the substantially fixed location (e.g., target site 103), a movement of support portion body 132 relative to the substantially fixed location, or a combination of the movement of plunger body 124 and the movement of support portion body 132 relative to the substantially fixed location. For example, movement of plunger body 124 in the first directionrelative to support portion body 132 may be caused by at least one of: plunger body 124 moving in the first direction as support portion body 132 is substantially stationary with respect to target site 103; support portion body 132 moving in the second direction as plunger body 124 is substantially stationary with respect to target site 103; plunger body 124 moving in the first direction as support portion body 132 moves in the second direction; plunger body 124 moving in the first direction at a greater rate than support portion body 132 moves in the first direction, or; plunger body 124 moving in the second direction at a lesser rate than support portion body 132 moves in the second direction.

[0104] Delivery device 104 may be configured to indicate (e.g., provide a visual indication) of a position of plunger body 124 (e.g., plunger distal end 154) relative to support portion body 132. For example, a wall 174 of support portion body 132 (“support body wall 174”) may be configured to provide a visual indication indicative of a position of plunger body 124 (e.g., a position within support portion lumen 128). In some examples, at least some portion of support body wall 174 is transparent, such that at least some portion of plunger body 124 (e.g., plunger body distal end 154) is visible as plunger body 124 extends within support portion lumen 128. In some examples, support body wall 174 may define a window through which the portion of plunger body 124 is visible within support portion lumen 128. Delivery device 104 may be configured such that a clinician may assess the position of plunger body 124 relative to support portion body 132 to assess a position of head portion 136 and / or IMD 102 within receptacle volume 112. For example, delivery device 104 may be configured such that first mark Ml or another mark is indicative of head portion 136 being in the first head position of FIG. 2. Delivery device 104 may be configured such that second mark M2 or another mark is indicative of head portion 136 being in the second head position of FIG. 3. Delivery device 104 may be configured such that third mark M3 or another mark is indicative of head portion 136 being in the third head position of FIG. 4. Delivery device 104 may be configured such that support body wall 174 allows a clinician to assess a proximity of some portion of plunger body 124 (e.g., plunger body distal end 154) relative to first mark Ml, second mark M2, third mark M3, and / or another mark to assess the position of head portion 136 and / or IMD 102 within receptacle volume 112.

[0105] In some examples, instead of or in addition to support body wall 174, plunger body 124 may be configured to indicate (e.g., provide a visual indication) the position of plunger body 124 relative to support portion body 132. For example, plunger body 124 may define a fourth mark M4, a fifth mark M5, a sixth mark M6, and / or one or more other marks configured to indicate a position of plunger body 124 relative to some portion of support portion body 132 (e.g., a first end 170 defined by support portion body 132 (“support body first end 170”)). Delivery device 104 may be configured such that, for example, fourth mark M4 or another markis indicative of head portion 136 being in the first head position of FIG. 2, configured such that fifth mark M5 or another mark is indicative of head portion 136 being in the second head position of FIG. 3, and / or configured such that sixth mark M6 or another mark is indicative of head portion 136 being in the third head position of FIG. 3. Delivery device 104 may be configured such that plunger body 124 allows a clinician to assess the position of plunger body 124 relative to support portion body 132 using fourth mark M4, fifth mark M5, sixth mark M6, and / or another mark to assess the position of head portion 136 and / or IMD 102 within receptacle volume 112.

[0106] Support body wall 174 and / or plunger body 124 may define any number of additional marks in addition to first mark Ml, second mark M2, third mark M3, fourth mark M4, fifth mark M5, and / or sixth mark M6. Any of the additional marks may be configured to provide a visual indication indicative of a position of plunger body 124 relative to support portion body 132. In some examples, delivery device 104 is configured to limit further displacement of plunger body 124 relative to support portion body 132 (e.g., when plunger flange 126 contacts support body first end 170). In examples, delivery device 104 is configured such that a clinician may assess the position of plunger body 124 relative to support portion body 132 based on the limited further displacement of plunger body 124 relative to support portion body 132.

[0107] In some examples, delivery device 104 may be configured to substantially maintain plunger body 124 in a particular position relative to support portion body 132 unless force F is imparted to plunger body 124. The particular position may be, for example, a position of plunger body 124 relative to support portion body 132 wherein head portion 136 is expected to be positioned in proximity to a specific position within receptacle volume 112. The particular position may be, for example, a position of head portion 136 desired as delivery system 105 transits within a patient enroute to target site 103 (e.g., the first head position of FIG. 2). Delivery device 104 may be configured such that head portion 136 is substantially held in the particular position until force F is imparted (e.g., by a clinician) to plunger body 124.

[0108] For example, delivery device 104 may include an elastic member 171 configured to impart a force FS (FIG. 3, FIG. 4) to plunger body 124. In examples, elastic member 171 is configured to exert force FS at least when plunger body 124 receives force F (e.g., via plunger flange 126). Elastic member 171 may be, for example, a spring (e.g., a helical spring, leaf spring, or other type of spring) or other elastic member. Elastic member 171 may be configured to compress when plunger body 124 displaces relative to support portion body 132 (e.g., when plunger body 124 displaces over the displacement DB1). Elastic member 171 may be configured to exert force FS in response to the compression. In examples, elastic member is configured to extend between some portion of support portion body 132 and a portion of plunger body 124such that, for example, a length of elastic member 171 is dependent on the position of plunger body 124 relative to support portion body 132. In examples, elastic member 171 is configured to compress when plunger body 124 moves relative to support portion body 132 in the distal direction D. Elastic member 171 may be configured to expand when plunger body 124 moves relative to support portion body 132 in the proximal direction D. In examples, elastic member 171 is configured to position within support portion lumen 128. In some examples, medical system 100 (e.g., delivery device 104) includes a locking device (not shown) configured to hold elastic member 71 in a given state (e.g., a semi-compressed state). In examples, the locking device is configured to hold elastic member 71 in the given state as plunger body 124 is rotated (e.g., about longitudinal axis L, by a clinician) relative to support portion body 132.

[0109] Delivery device 104 may be configured to limit motion of plunger body 124 in a radial direction when plunger body 124 displaces relative to support portion body 132. In examples, plunger body 124 includes a bracing member 192 configured to limit the motion of plunger body 124 in the radial direction (e.g., in a direction perpendicular to longitudinal axis L). Bracing member 192 may be configured to contact support body wall 174 when plunger body 124 extends within support portion lumen 128. Bracing member 192 may be configured to substantially maintain contact with support body wall 174 as plunger body 124 displaces relative to support portion body 132, such that bracing member 192 limits radial motion of plunger body 124 during the displacement. In examples, support portion body 132 acts to support plunger body 124 at least partially using bracing member 192. In examples, bracing member 192 is configured to substantially maintain contact with support body wall 174 over at least a portion of or substantially an entirety of a perimeter of support portion lumen 128 defined by support body wall 174. In examples, the perimeter of support portion lumen 128 defined by support body wall 174 defines a cross-section area substantially perpendicular to longitudinal axis L. In some examples, bracing member 192 defines plunger body distal end 154, although this is not required.

[0110] In some examples, instead of or in addition to limiting radial motion of plunger body 124, bracing member 192 (or another portion of plunger body 124) may be configured to frictionally engage support body wall 174 at least as plunger body 124 displaces relative to support portion body 132. Bracing member 192 or the other portion of plunger body 124 may frictionally engage support body wall 174 to provide some measure of resistance and feedback to a clinician imparting force F on plunger body 124. In examples, when plunger body 124 displaces relative to support portion body 132 in a first direction, bracing member 192 or the other portion of plunger body 124 is configured to cause (e.g., due to the frictional engagement with support body wall 174) an engagement force on plunger body 124 in a second direction opposite the first direction. For example, when plunger body 124 displaces relative to supportportion body 132 in the distal direction D, bracing member 192 or the other portion of plunger body 124 may be configured to cause the engagement force on plunger body 124 in the proximal direction P. When plunger body 124 displaces relative to support portion body 132 in the proximal direction P, bracing member 192 or the other portion of plunger body 124 may be configured to cause the engagement force on plunger body 124 in the distal direction D. The engagement force may arise from, for example, a kinetic friction coefficient between bracing member 192 or the other portion of plunger body 124 and support body wall 174.

[0111] Referring primarily to FIG. 2, FIG. 3, and FIG. 4., in examples, support portion lumen 128 opens into a proximal opening 166 defined by support portion body 132 (“support portion proximal opening 166”). Support portion lumen 128 may open into a distal opening 168 defined by support portion body 132 (“support portion distal opening 168”). In examples, support portion body 132 defines support portion proximal opening 166 substantially at support body first end 170. Support portion body 132 may define support portion distal opening 168 at a second end 172 of support portion body 132 (“support body second end 172”). Support body second end 172 may be distal to support body first end 170. In examples (e.g., when support portion body 132 defines support portion lumen 128), support portion lumen 128 may extend from support portion proximal opening 166 to support portion distal opening 168. Support portion proximal opening 166 may be configured such that at least some portion of plunger body 124 may enter support portion lumen 128 via support portion proximal opening 166. Support portion distal opening 168 may be configured such that at least some portion of linking body 134 may enter support portion lumen 128 via support portion distal opening 168. In examples, longitudinal axis L extends through support portion proximal opening 166 and support portion distal opening 168. In some examples, support portion distal opening 168 is configured such that at least some portion of head portion 136 may enter support portion lumen 128 via support portion distal opening 168.

[0112] In examples, support body wall 174 defines an inner surface 176 (“support portion inner surface 176”). Support portion inner surface 176 may define at least a portion of a boundary defining support portion lumen 128. In examples, support portion inner surface 176 at least partially and / or substantially completely surrounds a portion of longitudinal axis L extending within support portion lumen 128. In examples, support body wall 174 and / or support portion inner surface 176 define at least one of or both of support portion proximal opening 166 and / or support portion distal opening 168. Support body wall 174 may define an outer surface 178 (“support portion outer surface 178”) substantially opposite support portion inner surface 176. In examples, at least some portion of support portion body 132 is between support portion outer surface 178 and support portion inner surface 176. In examples, support portion outer surface 178 at least partially and / or substantially completely surrounds longitudinal axis L and / orsupport portion inner surface 176. In some examples, support portion inner surface 176 is configured to face in a direction toward longitudinal axis L, support portion lumen 128, some portion of linking body 134 when the portion of linking body 134 extends into support portion lumen 128 (e.g., via support portion distal opening 168), and / or some portion of plunger body 124 when the portion of plunger body 124 extends into support portion lumen 128 (e.g., via support portion proximal opening 166). Support portion outer surface 176 may be configured to face in a direction away from longitudinal axis L, support portion lumen 128, some portion of linking body 134 when the portion of linking body 134 extends into support portion lumen 128 (e.g., via support portion distal opening 168), and / or some portion of plunger body 124 when the portion of plunger body 124 extends into support portion lumen 128 (e.g., via support portion proximal opening 166).

[0113] Elongate body 106 may extend from a proximal end 180 (“elongate body proximal end 180”) defined by elongate body proximal portion 144 to a distal end 182 (“elongate body distal end 182”) defined by elongate body distal portion 142. In examples, for example when shapeable body 148 comprises substantially all of elongate body proximal portion 144, elongate body proximal end 180 may be co-located with shapeable body proximal end 150 (FIG. 1). In examples, for example when shapeable body 148 comprises substantially all of elongate body distal portion 142, elongate body distal end 182 may be co-located with shapeable body distal end 152 (FIG. 1). Elongate body proximal end 180 may be coupled to (e.g., attached to) support portion body 132 (e.g., support body second end 172). Elongate body distal end 182 may be coupled to (e.g., attached to) device receptacle 108.

[0114] Elongate body lumen 140 may extend at least from elongate body proximal portion 144 to elongate body distal portion 142. In examples, elongate body lumen 140 extends from elongate body proximal end 180 to elongate body distal end 182. In examples, elongate body lumen 140 opens into support portion distal opening 168 (e.g., substantially at elongate body proximal end 180). Elongate body lumen 140 may open into receptacle volume 112 (e.g., substantially at elongate body distal end 182). For example, elongate body 106 may define an opening 184 “elongate body distal opening 184”) through which elongate body lumen 140 opens into receptacle volume 112. Elongate body distal opening 184 may be configured such that at least some portion of linking body 134 may enter receptacle volume 112 via elongate body distal opening 184. In examples, elongate body distal opening 184 is configured such that at least some portion of head portion 136 may enter elongate body lumen 140 via elongate body distal opening 184. In examples, longitudinal axis L extends through elongate body distal opening 184.

[0115] Elongate body 106 may define a wall 186 (“elongate body wall 186”) defining an inner surface 188 (“elongate body inner surface 188”). Elongate body inner surface 188 maydefine at least a portion of a boundary defining elongate lumen 140. Elongate body 106 may define an outer surface 190 (“elongate body outer surface 190”) substantially opposite elongate body inner surface 188. In examples, elongate body inner surface 188 defines elongate body distal opening 184. Elongate body inner surface 188 and / or elongate body outer surface 190 may at least partially and / or substantially completely surround a portion of longitudinal axis L extending within elongate lumen 140. In examples, elongate body outer surface 190 at least partially and / or substantially completely surrounds longitudinal axis L and / or elongate body inner surface 188. In examples, at least some portion of elongate body 106 is between elongate body outer surface 190 and elongate body inner surface 188. Elongate body inner surface 188 may be configured to face in a direction toward longitudinal axis L, elongate body lumen 140, linking body 134 when linking body 134 extends within elongate body lumen 140, and / or some portion of head portion 136 when the portion of head portion 136 extends into elongate body lumen 140 (e.g., via elongate body distal opening 184). In examples, elongate body outer surface 190 is configured to face in a direction away from longitudinal axis L, support portion lumen 128, some portion of linking body 134 when the portion of linking body 134 extends into support portion lumen 128 (e.g., via support portion distal opening 168), and / or some portion of plunger body 124 when the portion of plunger body 124 extends into support portion lumen 128 (e.g., via support portion proximal opening 166).

[0116] FIG. 5 depicts a schematic end view of head portion 136 in an engagement configuration. FIG. 6 depicts a schematic cross-sectional view of head portion 136 in the engagement configuration. FIG. 7 depicts a schematic end view of head portion 136 in a disengagement configuration. FIG. 8 depicts a schematic cross-sectional view of head portion 136 in the disengagement configuration. The cutting plane of FIG. 6 and FIG. 8 is designated by A-A’ in FIG. 5 and FIG. 6. In FIG. 5, FIG. 6, FIG. 7, and FIG. 8, a portion of device receptacle 108 is illustrated in dashed lines.

[0117] Referring mainly to FIG. 5 and FIG. 6, head portion 136 is configured to engage a medical device such as IMD 102 in the engagement configuration. In examples head portion 136 is configured to engage a retrieval structure (e.g., retrieval structure 139 (FIG. 2)) of IMD 102 in the engagement configuration. Head portion 136 is configured to impart the force F to IMD 102 when head portion 136 is in the engagement configuration. Head portion 136 may be configured such that, in the engagement configuration, when linking body 134 transfers force F to head portion 136 in a particular direction (e.g., one of the distal direction D or the proximal direction P), head portion 136 imparts force F on IMD 102 in the particular direction. Head portion 136 may be configured such that impartation of force F on IMD 102 in the particular direction causes movement of IMD 102 relative to device receptacle 108 in the particular direction.

[0118] In examples, head portion 136 defines a first bearing surface 194 configured to transfer force F in the distal direction D when linking body 134 transfers force F to head portion 136 in the distal direction D. In examples, first bearing surface 194 is configured to transfer force F in the distal direction D through contact with IMD 102. For example, head portion 136 may be configured such that force F in the distal direction D causes first bearing surface 194 to contact or remain in contact with IMD 102 to transfer the force F to IMD 102 in the distal direction D. In some examples, at least a portion of first bearing surface 194 is configured to face substantially in the distal direction D when head portion 136 is within receptacle volume 112.

[0119] Head portion 136 may define a second bearing surface 196 configured to transfer force F in the proximal direction P when linking body 134 transfers force F to head portion 136 in the proximal direction P. In examples, second bearing surface 196 is configured to transfer force F in the proximal direction P through contact with IMD 102. For example, head portion 136 may be configured such that force F in the proximal direction P causes second bearing surface 196 to contact or remain in contact with IMD 102 to transfer the force F to IMD 102 in the proximal direction P. In examples, at least a portion of second bearing surface 196 is configured to face substantially in the proximal direction P when head portion 136 is within receptacle volume 112. In some examples, head portion 136 is configured to substantially trap (e.g., mechanically trap) some portion of IMD 102 (e.g., retrieval structure 139) between first bearing surface 194 and second bearing surface 196 when head portion 136 is in the engagement configuration.

[0120] In examples, head portion 136 includes a hub 198 coupled to (e.g., mechanically coupled to or substantially unitary with) linking body 134. Hub 198 may be configured to receive force F from linking body 134. In examples, hub 198 defines first bearing surface 194. In some examples, head portion 136 includes one or more arms such as arm 202, arm 204, and / or arm 206. Arm 202, 204, 206 may be coupled to (e.g., mechanically coupled to or substantially unitary with) hub 198. In examples, hub 198 is configured to transfer force F to arm 202, 204, 206 when hub 198 receives force F from linking body 134. In some examples, arm 202, 204, 206 defines second bearing surface 196. In some examples, head portion 136 is configured to substantially trap (e.g., mechanically trap) some portion of IMD 102 (e.g., retrieval structure 139) between hub 198 and arm 202, 204, 206 when head portion 136 is in the engagement configuration. Head portion 136 may include any number of arms coupled to hub 198, including a single arm such as arm 202, arm 204, or arm 206 or a plurality of arms including two or more arms such as arm 202, arm 204, and / or arm 206. In some examples, head portion 136 includes a member 197 configured to transfer a torque from head portion 136 to IMD 102. Member 197 may be, for example, a pin or fin extending (e.g., extending distally) from some portion of head portion 136, such as hub198. In examples, member 197 is configured to engage IMD 102 (e.g., retrieval structure 139) to transfer the torque to IMD 102.

[0121] Head portion 136 may be configured to establish and remain in the engagement configuration when head portion 136 is within receptacle volume 112 (e.g., when head portion 136 is proximal to receptacle opening 111). In examples, receptacle wall 113 is configured to substantially hold head portion 136 in the engagement configuration when head portion 136 is within receptacle volume 112. In examples, receptacle wall 113 is configured to cause head portion 136 to maintain an orientation within receptacle volume 112 wherein at least a portion of first bearing surface 194 faces substantially in the distal direction D as at least a portion of second bearing surface 196 faces substantially in the proximal direction P. In examples, receptacle wall 113 is configured to cause head portion 136 to maintain an orientation within receptacle volume 112 wherein IMD 102 (e.g., retrieval structure 139) is substantially trapped between first bearing surface 194 and second bearing surface 196 (e.g., trapped between hub 198 and arm 202, 204, 206).

[0122] For example, receptacle wall 113 may define an inner surface 208 (“receptacle inner surface 208”) defining at least a portion of a boundary of receptacle volume 112. Receptacle inner surface 208 may be configured to impart a force FR on head portion 136 (e.g., on arm 202, 204, 206) to cause head portion 136 to substantially hold the engagement configuration within receptacle volume 112. In examples, receptacle inner surface 208 is configured to impart force FR as receptacle inner surface 208 contacts head portion 136. Receptacle inner surface 208 may be configured to impart force FR as head portion 136 moves within receptacle volume 112 (e.g., through sliding contact with head portion 136), such that receptacle inner surface 208 causes head portion 136 to remain in the engagement configuration during the movement of head portion 136. Receptacle inner surface 208 may be configured to impart force FR to cause head portion 136 to maintain the orientation wherein at least a portion of first bearing surface 194 faces substantially in the distal direction D as at least a portion of second bearing surface 196 faces substantially in the proximal direction P, and / or wherein IMD 102 (e.g., retrieval structure 139) is substantially trapped between first bearing surface 194 and second bearing surface 196 (e.g., trapped between hub 198 and arm 202, 204, 206). In examples, receptacle inner surface 208 is configured to impart force FR in a direction from receptacle inner surface 208 towards longitudinal axis L.

[0123] Referring mainly to FIG. 7 and FIG. 8, head portion 136 may be configured to assume and / or establish the disengagement configuration when head portion 136 is outside of receptacle volume 112 (e.g., when head portion 136 is distal to receptacle opening 111). Head portion 136 is configured such that, in the disengagement configuration, the ability of head portion 136 toimpart force F to IMD 102 is limited (e.g., as compared to the engagement configuration). For example, in the disengagement configuration, transfer of force F to head portion 136 may tend to cause head portion 136 to displace from IMD 102 (e.g., displace proximally or distally) rather than imparting force F to cause movement of IMD 102.

[0124] In some examples, head portion 136 is resiliently biased to assume the disengagement configuration, such that in the absence of force FR (FIG. 6) substantially maintaining the engagement configuration, head portion 136 tends to assume the disengagement configuration. For example, head portion 136 may be configured such that the resilient biasing causes head portion 136 (e.g., arm 202, 204, 206) to contact and exert a force on receptacle inner surface 208. Receptacle inner surface 208 may exert force FR as a reaction force in response to the force exerted by head portion 136 on receptacle inner surface 208. Head portion 136 may be resiliently biased such that a break in contact with receptacle inner surface 208 (e.g., when head portion 136 is distal to receptacle opening 111) causes head portion 136 to transition from the engagement configuration to the disengagement configuration.

[0125] For example, head portion 136 may be resiliently biased to cause arm 202, 204, 206 to establish a preset orientation with respect to hub 198, such as the orientation of arm 202 with respect to hub 198 depicted in FIG. 7 and FIG. 8 with respect to hub 198. Head portion 136 may be resiliently biased such that, when an external force (e.g., force FR) causes arm 202, 204, 206 to depart from the preset orientation with respect to hub 198, head portion 136 generates an internal stress tending to oppose the external force. Head portion 136 may be configured such that the internal stress acts to cause arm 202, 204, 206 to attempt to establish or reestablish the preset orientation. Hence, when the external force ceases (e.g., when head portion 136 is distal to receptacle opening 111 and force FR ceases), the internal stress may cause arm 202, 204, 206 to establish the preset orientation, such that head portion 136 transitions from the engagement configuration to the disengagement configuration. In examples, head portion 136 (e.g., arm 202, 204, 206) is resiliently biased to expand radially outward (e.g., in a direction away from longitudinal axis L) when head portion 136 transitions from the engagement configuration to the disengagement configuration.

[0126] In some examples, instead of or in addition to the resilient biasing, head portion 136 may be configured to establish the disengagement configuration when head portion 136 is distal to receptacle opening 111 and force F causes head portion 136 to alter its orientation with respect to device receptacle 108. For example, head portion 136 may be configured to assume and maintain a first orientation relative to device receptacle 108 in the engagement configuration (e.g., when head portion 136 is within receptacle volume 112). Head portion 136 may be configured such that first bearing surface 194 and second bearing surface 196 orient with respectto device receptacle 108 such that IMD 102 may be substantially trapped between first bearing surface 194 and second bearing surface 196 in the first orientation. Force FR may cause head portion 136 to substantially maintain the first orientation.

[0127] Head portion 136 may be configured to transition from the first orientation to a second orientation relative to device receptacle 108 to transition from the engagement configuration to the disengagement configuration (e.g., when head portion 136 is distal to receptacle opening 111). The second orientation may be an orientation of head portion 136 wherein first bearing surface 194 and / or second bearing surface 196 alter their orientation with respect to device receptacle 108. For example, the second orientation may be an orientation whereby second bearing surface 196 displaces from and / or slides over IMD 102 when head portion 136 receives force F in the proximal direction P from linking body 134, rather than transferring force F to IMD 102. The second orientation may be an orientation whereby second bearing surface 196 displaces from and / or slides over IMD 102 when head portion 136 receives force F in the distal direction D from linking body 134, rather than transferring force F to IMD 102. Head portion 136 may be configured such that the impartation of force F when head portion 136 is distal to receptacle opening 111 causes head portion to transition from the first orientation to the second orientation, such that head portion transitions from the engagement configuration to the disengagement configuration.

[0128] Hence, in some examples, head portion 136 may be configured such that altering its orientation with respect to device receptacle 108 (e.g., due to impartation of force F distal to receptacle opening 111) causes head portion 136 to transition from the engagement configuration to the disengagement configuration. Thus, in some examples, head portion 136 may be configured to transition from the engagement configuration to the disengagement configuration in the absence of any resilient biasing of arm 202, 204, 206. For example, head portion 136 may be configured such that first bearing surface 194 and second bearing surface 196 maintain substantially the same orientation relative to each other when head portion 136 is proximal to receptacle opening 111 and when head portion 136 is distal to receptacle opening 111 (e.g., arm 202, 204, 206 and hub 198 may comprise a substantially rigid unitary member). Head portion 136 may be configured such that the impartation of force F when head portion 136 is distal to receptacle opening 111 causes both first bearing surface 194 and second bearing surface 196 to alter their orientation with respect to device receptacle 108, such that both first bearing surface 194 and second bearing surface 196 displace relative to IMD 102 rather than transferring force F to IMD 102.

[0129] FIG. 9 is a perspective illustration of a head portion 302 engaging a medical device such as IMD 102 in the engagement configuration. FIG. 10 is a cross-sectional perspectiveillustration of head portion 302 in the engagement configuration, the cross-section taken through a cutting plane indicated by axis B-B’ of FIG. 9. FIG. 11 is a plan view of head portion 302 in the engagement configuration. FIG. 12 is a cross-sectional plan view of head portion 302 in the engagement configuration, the cross-section taken through the cutting plane indicated by axis B- B’ of FIG. 9. Head portion 302 is an example of head portion 136. In FIG. 9 and FIG. 11, device receptacle 108 is not depicted for clarity, however head portion 302 is configured to establish the engagement configuration of FIG. 9 when head portion 302 is within receptacle volume 112 of device receptacle 108.

[0130] In examples, head portion 302 includes a hub 306 which may be coupled to (e.g., mechanically coupled to or substantially unitary with) linking body 134. In examples, hub 306 defines a first bearing surface 308. Head portion 302 includes one or more arms such as arm 310, 312, and / or arm 314 which may be coupled to (e.g., mechanically coupled to or substantially unitary with) hub 306. Arm 310, 312, and / or arm 314 may define a second bearing surface 316. Hub 306 is an example of hub 198, first bearing surface 308 is an example of first bearing surface 198, arm 310 is an example of arm 202, arm 312 is an example of arm 204, arm 314 is an example of arm 206, and second bearing surface 316 is an example of second bearing surface 196. For clarity, linking body 134 is depicted with dashed lines in FIGS. 9-12. Head portion 302 may be configured to be supported by linking body 134 at a proximal portion 304 of head 302 (“head proximal portion 304”).

[0131] Head portion 302 is configured to substantially trap (e.g., mechanically trap) some portion of IMD 102 (e.g., retrieval structure 139) between first bearing surface 308 and second bearing surface 316 when head portion 302 is in the engagement configuration. Head portion 302 may include any number of arms coupled to hub 306, including a single arm such as arm 310, arm 312, or arm 314, or a plurality of arms including two or more arms such as arm 310, arm 312, and / or arm 314. Hub 306 is an example of hub 198, first bearing surface 308 is an example of first bearing surface 198, arm 310 is an example of arm 202, arm 312 is an example of arm 204, arm 314 is an example of arm 206, and second bearing surface 316 is an example of second bearing surface 196.

[0132] Arms 310, 312, 314 may each include a support member and an end portion. In examples, the support member is attached (e.g., mechanically coupled to) hub 306 and supports the end portion. For example, arm 310 may include a support member 318 attached to hub 306 and supporting an end portion 320. In examples, support member 318 defines a proximal portion 322 (“member proximal portion 322”) attached to hub 306 and a distal portion 324 (“member distal portion 324”) attached to and / or supporting end portion 320. Head portion 302 may define second bearing surface 316. In examples, head portion 302 (e.g., hub 306 and end portion 320) isconfigured to define a gap G (FIG. 10, FIG. 12) when head portion 302 is in the engagement configuration. Head portion 302 may be configured to receive some portion of IMD 102 (e.g., some portion of retrieval structure 139) in gap G when head portion 302 is in the engagement configuration. In examples, head portion 302 defines gap G between first bearing surface 308 and second bearing surface 316.

[0133] In the examples discussed herein, although largely discussed with reference to arm 310, arm 312 and / or arm 314 may be configured similarly to arm 310. For example (referring to FIG. 9), arm 312 may include a support member 326 and an end portion 328, and / or arm 314 may include a support member 330 and an end portion 332. Support member 326, 330 and / or end portion 328, 332 may be configured with respect to hub 306, IMD 102, and other portions of medical system 100 in the same manner as that described for support member 318 and / or end portion 320 with respect to hub 306, IMD 102, and other portions of medical system 100.

[0134] Head portion 302 is configured such that receptacle inner surface 208 (FIG. 6) imparts force FR on head portion 302 (e.g., on arm 310, 312, 314) to cause head portion 302 to substantially hold the engagement configuration when head portion 302 is within receptacle volume 112. Receptacle inner surface 208 may be configured to impart force FR as head portion 302 moves within receptacle volume 112 (e.g., as head portion 302 maintains sliding contact with receptacle inner surface 208), such that receptacle inner surface 208 causes head portion 302 to remain in the engagement configuration during the movement of head portion 302. In examples, head portion 302 is configured such that, when receptacle inner surface 208 holds head portion 302 in the engagement configuration, at least one of first bearing surface 308 and / or second bearing surface 316 contact IMD 102 (e.g., retrieval structure 139). In some examples, head portion 302 is configured such that, when receptacle inner surface 208 holds head portion 302 in the engagement configuration, both of first bearing surface 308 and second bearing surface 316 contact IMD 102 (e.g., retrieval structure 139). In examples, head portion 302 is configured such that, when receptacle inner surface 208 holds head portion 302 in the engagement configuration, head portion 302 defines gap G.

[0135] Head portion 302 (e.g., hub 306) is configured to receive a force in the distal direction (“force FD”) and / or a force in the proximal direction (“force FP”) from linking body 134 to cause movement of hub 306 in distal direction D and / or proximal direction P relative to receptacle wall 113. Force FD is an example of force F (FIG. 6, FIG. 8). Head portion 302 is configured to transfer force FD or force FP to IMD 102 (e.g., retrieval structure 139) to cause movement of IMD 102 in distal direction D or proximal direction P relative to receptacle wall 113.

[0136] Head portion 302 may be configured such that forces imparted from IMD 102 to head portion 302 as a result of transferring force FD or force FP are substantially borne by hub 306(e.g., rather than support member 318). For example, head portion 302 may be configured such that, when head portion 302 receives force FD, hub 306 transfers a force FDH (FIG. 12) to IMD 102 in the distal direction. In examples, force FDH is at least 50% of force FD, in some examples at least 70% of force FD, and in some examples at least 90% of force FD. Head portion 302 may be configured such that, when hub 306 transfers force FDH to IMD 102, IMD 102 imparts a reaction force FDR on hub 306 in proximal direction P (e.g., IMD 102 imparts a substantially equal and opposite force FDR in response to force FDH imparted by hub 306). Hence, head portion 302 may be configured such that hub 306 imparts force FDH and receives force FDR when linking body 137 provides force FD (e.g., to cause movement of IMD 102 in distal direction D). In examples, hub 306 is configured to impart force FDH and / or receive force FDR via first bearing surface 308.

[0137] Thus, head portion 302 may limit and / or substantially avoid a transfer of force FD or force FDR through support member 318 when linking body 134 transfers force FD to head portion 302. This may limit stresses in support member 318 which may allow a reduction in a volume, a mass, and / or a dimension (e.g., a thickness) required for support member 318. As will be discussed, the reduction in volume, mass, and / or dimension may assist in the effectiveness of a resilient biasing of support member 318. Similarly, when arms 312, 314 are configured similarly to arm 310, a reduction in volume, mass, and / or dimension may assist in the effectiveness of a resilient biasing of support member 326 and support member 330.

[0138] Head portion 302 may be configured to limit forces through support member 318 when linking body 134 transfers force FP to head portion 302. For example, head portion 302 may be configured such that, when head portion 302 receives force FP, end portion 320 and / or an end portion of arm 312, 310 transfers a force FPE (FIG. 12) to IMD 102 in the proximal direction. Head portion 302 may be configured such that, when head portion 302 transfers force FPE to IMD 102, IMD 102 imparts a force FPI on hub 306 (e.g., IMD 102 substantially transfers force FPE to hub 306). Hence, head portion 302 may be configured such that head portion imparts force FPE and hub 306 receives force FPI when linking body 137 provides force FP (e.g., to cause movement of IMD 102 in proximal direction P). In examples, hub 306 is configured to impart force FPE via second bearing surface 316 and / or receive force FPI via first bearing surface 308. Thus, head portion 302 may be configured to transfer a force in proximal direction P from end portion 320 (e.g., as force FPE), through retrieval structure 139, and to hub 306 (e.g., as force FPI) when linking body 134 exerts force FP to head portion 302. Head portion 302 may be configured to transfer the force in proximal direction P from end portion 320, through retrieval structure 139, and to hub 306 when gap G receives retrieval structure 139 and linking body 134 exerts force FP on head portion 302.

[0139] Further, head portion 302 may limit and / or substantially avoid a transfer of force FPI through support member 318 when linking body 134 transfers force FP to head portion 302. For example, in some examples, force FPI may be at least 50% of force FPE, in some examples at least 70% of force FPE, and in some examples at least 90% of force FPE, such that a transfer of force from IMD 102 to support member 318 in proximal direction P is limited. This may limit stresses in support member 318, which may allow the reduction in volume, mass, and / or dimension required for support member 318.

[0140] In some examples, hub 306 defines a linear axis LH (FIG. 12). In examples, linear axis LH is substantially parallel to longitudinal axis L. Hub 306 may be configured such that, in the engagement configuration (e.g., when head portion 302 defines gap G), linear axis LH extends through first bearing surface 308 and second bearing surface 316. Head portion 302 may be configured such that (e.g., when gap G receives retrieval structure 139), head portion 302 transfers a force in proximal direction P from end portion 320 (e.g., as force FPE), through retrieval structure 139, and to hub 306 (e.g., as force FPI) at least partially along linear axis LH. In some examples, hub 306 is configured to transfer force FDH and / or receive force FDR at least partially along linear axis LH. Head portion 302 may be configured such that transferring forces at least partially along linear axis LH serves to limit forces transferred from IMD 102 to support member 318 (e.g., when linking body 134 transfers force FP or force FD to head portion 302).

[0141] Hence, head portion 302 may be configured such that forces imparted from IMD 102 to head portion 302 as a result of linking body 134 transferring force FD or force FP are substantially borne by hub 306 (e.g., rather than support member 318, support member 326, support member 330, and / or other support members of head portion 302). This may allow for a reduction in a volume, a mass, and / or a dimension (e.g., a thickness) required for support member 318, support member 326, support member 330, and / or other support members of head portion 302. The reduction in volume, mass, and / or dimension may assist in the effectiveness of a resilient biasing of support member 318, support member 326, support member 330, and / or other support members of head portion 302.

[0142] Head portion 302 may be resiliently biased such that arm 310 displaces radially expand in a direction away from hub 306 when head portion 302 transitions from the engagement configuration to the disengagement configuration. For example, head portion 302 may be resiliently biased to cause at least support member 318 to establish a preset orientation with respect to hub 306 wherein support member 318 causes a radial displacement (e.g., perpendicular to longitudinal axis L) between end portion 320 and hub 306. In examples, the preset orientation causes the radial displacement between second bearing surface 316 and first bearing surface 308. Head portion 302 may be resiliently biased such that, when an external force (e.g., force FR(FIG.10)) causes support member 318 to depart from the preset orientation with respect to hub 306, support member 318 generates an internal stress tending to oppose the external force, causing support member 318 to attempt to establish or reestablish the preset orientation. Hence, when the external force ceases (e.g., when head portion 302 is distal to receptacle opening 111 and force FR ceases (FIG. 8)), the internal stress may cause support member 318 to establish the preset orientation, such that head portion 136 transitions to the disengagement configuration and end portion 320 radially displaces from hub 306.

[0143] For example, FIG. 13 is a perspective illustration of head portion 302 in the disengagement configuration, depicted in accordance with the X-Y-Z axes shown. Distal direction D and proximal direction P are parallel to the Z axis of the X-Y-Z axes. FIG. 14 is a front view of head portion 302 in the disengagement configuration, depicted in accordance with the X-Y-Z axes with the Z axis proceeding out of the page. FIG. 15 is a side view of head portion 302 in the disengagement configuration, depicted in accordance with the X-Y-Z axes with the X axis proceeding out of the page. FIG. 16 is a cross-sectional perspective illustration of head portion 302 in the disengagement configuration, the cross-section taken through a cutting plane parallel to the X-Y plane of the X-Y-Z axes. FIG. 17 is a back view of head portion 302 in the disengagement configuration, depicted in accordance with the X-Y-Z axes with the Z axis proceeding into the page.

[0144] Head portion 302 may be configured such that, when head portion 302 is in the engagement configuration, end portion 320 defines a radius RE (FIG. 12) from longitudinal axis L to a fixed point PS on second bearing surface 316 defined by end portion 320. In addition to or instead of defining radius RE, and in the engagement configuration, head portion 302 may be configured to define a displacement DE between a point PF on first bearing surface 308 and point PS.

[0145] Head portion 302 may be configured such that, when head portion 302 is in the disengagement configuration, end portion 320 defines a radius RD (FIG. 16) from longitudinal axis L to fixed point PS, with radius RD greater than radius RE. In addition to or instead of defining radius RDE, and in the disengagement configuration, head portion 302 may be configured to define a displacement DD between point PF and point PS, with displacement DD greater than displacement DE. Support member 318 may be configured such that, in the present orientation of head portion 302, support member 318 positions relative to hub 306 to cause the radius RD and / or the displacement DD. Hence, head portion 302 may be resiliently biased such that arm 310 displaces radially expand in a direction away from hub 306 when head portion 302 transitions from the engagement configuration to the disengagement configuration. In examples,radius RE, radius RD, displacement DE, and / or displacement DD are substantially perpendicular to longitudinal axis L.

[0146] As discussed (e.g., referring mainly to FIG. 6, with head portion 302 as an example of head portion 136), head portion 302 may be configured to assume and / or establish the engagement configuration when head portion 302 is within receptacle volume 112 (e.g., when head portion 302 is proximal to or substantially even with receptacle opening 111). Head portion 302 (e.g., referring mainly to FIG. 8, with head portion 302 as an example of head portion 136) may be configured to assume and / or establish the disengagement configuration when head portion 302 is outside of receptacle volume 112 (e.g., when head portion 136 is distal to receptacle opening 111). Hence, head portion 302 may be configured to transition from the engagement configuration (FIG. 6) to the disengagement configuration (FIG. 8) as head portion 302 exits receptacle volume 112 via receptacle opening 111 (e.g., as receptacle inner surface 208 ceases to exert force FR on head portion 302). Similarly, head portion 302 may be configured to transition from the disengagement configuration (FIG. 8) to the engagement configuration (FIG. 6) as head portion 302 enters receptacle volume 112 via receptacle opening 111 and receptacle inner surface 208 begins to exert force FR on head portion 302.

[0147] In examples, head portion 302 is configured to retrieve IMD 102 (e.g., when IMD 102 is distal to receptacle opening 111) by transitioning from the disengagement configuration to the engagement configuration. For example, when IMD 102 is outside of receptacle volume 112 (e.g., distal to receptacle opening 111), head portion 302 may be extended distal to receptacle opening 111 such that hub 306 is placed in contact with or proximity to IMD 102 (e.g., retrieval structure 139). Head portion 302 and IMD 102 may be moved proximally relative to receptacle wall 113 such that head portion 302 and IMD 102 pass into receptacle volume 112 via receptacle opening 111. As head portion 302 and IMD 102 pass into receptacle volume 112 and receptacle inner surface 208 begins to exert force FR on head portion 302 (e.g., on arm 310, 312, 314), head portion 302 may transition from the disengagement configuration to the engagement configuration such that head portion 302 defines gap G (FIG. 12), and such that some portion of IMD 102 (e.g., some portion of retrieval structure 139) is substantially trapped within gap G.

[0148] In some examples, medical system 100 includes a snare configured to engage IMD 102 (e.g., when IMD 102 is distal to receptacle opening 111). The snare may be configured to assist in causing hub 306 to be placed in contact with or proximity to IMD 102 (e.g., retrieval structure 139) when IMD 102 is distal to receptacle opening 111 (e.g., outside of receptacle volume 112). In examples, the snare is configured to guide head portion 302 toward IMD 102 when the snare engages IMD 102.

[0149] For example, FIG. 18A depicts a perspective view of a snare 390 including a loopportion 392 supported by and coupled to one or more extension members such as extension member 394 and / or extension member 396. Snare 390 may be configured such that loop portion 392 may be extended and / or enlarged (e.g., as depicted in FIG. 18B) to allow snare 390 to engage IMD 102 using loop portion 392. For example, snare 390 may be configured such that movement of extension member 394 and / or extension member 396 in a first direction causes an opening 393 defined by loop portion 392 to enlarge (e.g., from the configuration of FIG 18A to the configuration of FIG. 18B). Snare 390 may be configured such that movement of extension member 394 and / or extension member 396 in a second direction opposite the first direction causes opening 393 to contract. Hence, snare 390 may be configured to engage IMD 102 positioning snare 390 such that some portion of IMD 102 (e.g., retrieval structure 139) extends through opening 393, and subsequently moving extension member 352 and / or extension member 394 in the second direction such that loop portion 392 constricts around IMD 102.

[0150] In some examples, snare 250 may include a sheath 398 extending from a sheath proximal end 402 to a sheath distal end 404. Sheath 398 may define a sheath lumen 406 (shown in dashed lines) extending from sheath proximal end 402 to sheath distal end 404. In examples, extension member 394, 396 and / or loop portion 392 extend at least partially through sheath lumen 406. For example, extension member 394, 396 may be configured to extend into sheath lumen 406 through a proximal lumen opening 408 defined by sheath 398 and opening into sheath lumen 402. Loop portion 392 may be configured to extend from sheath lumen 402 through a distal lumen opening 410 defined by sheath 398 and opening into sheath lumen 402. Extension member 394, 396 and loop portion 392 may be configured to slidably translate within sheath lumen 406 such that, for example, opening 393 may be caused to enlarge and / or contract.

[0151] Snare 390 may be configured to configured to engage IMD 102 to assist in causing hub 306 to be placed in contact with or proximity to IMD 102, such that head portion 302 may be used to retrieve IMD 102 (e.g., transitioning from the disengagement configuration to the engagement configuration). In some examples, snare 390 (e.g., sheath 398 and / or extension member 394, 396) may be configured to guide head portion 302 toward IMD 102 when snare 390 engages IMD 102.

[0152] For example, and referring primarily to FIG. 16, hub 306 may define a lumen 370 (“hub lumen 370”) configured to receive snare 390. In examples, hub 306 defines a proximal opening 372 (“hub proximal opening 372”) and a distal opening 374 (“hub proximal opening 374”), each of which open into hub lumen 370. Hub 306 may be configured such that snare 390 may be extended through hub proximal opening 372 and hub distal opening 374 to cause snare 390 to extend through hub lumen 370. In examples, hub 306 is configured such that loop portion 392 may be distal to hub distal opening 374 and extension member 394, 396 is proximal to hubproximal opening 372 when snare 390 extends through hub lumen 370. Hub 306 may be configured such that snare 390 is slidably translatable in hub lumen 370. Hence, head portion 302 may be configured such that, when snare 390 extends through hub lumen 370 and loop portion 392 engages IMD 102, snare 390 (e.g., sheath 398) may assist in guiding head portion 302 toward IMD 102. For example, when loop portion 392 engages IMD 102, head portion 302 may be configured to substantially “ride” snare 390 to a position in proximity to and / or in contact with some portion of IMD 102 (e.g., retrieval structure 139). In examples, longitudinal axis L extends through hub lumen proximal opening 372, hub lumen 370, and / or hub lumen distal opening 374, although this is not required.

[0153] Head portion 302 may include and / or define a torque member 334 configured to transfer a torque (e.g., a torque around longitudinal axis L) from hub 306 to IMD 102 when gap G receives retrieval structure 139. Torque member 334 is an example of member 197. In examples, torque member 334 is configured to transfer the torque to IMD 102 when linking body 134 transfers a torque to hub 306. For example, as discussed, attachment member 109 (FIG. 2) may define a helix or other structure configured to engage with and / or disengage from tissue when the torque is imparted to IMD 102. Torque member 334 may be configured to transfer the torque to IMD 102 when linking body 134 transfer the torque (e.g., imparted on linking body 134 by a clinician) to hub 306 to cause the helix or other structure to engage with and / or disengage from tissue. In some example, linking body 134 includes a helical coil (e.g., a torque coil) configured to transfer the torque to head portion 302.

[0154] In examples, torque member 334 includes and / or defines a protrusion extending toward end portion 320 at least when head portion 302 is in the engagement configuration (e.g., as depicted in FIG. 12). In examples, torque member 334 is configured to extend toward retrieval structure 139 when gap G receives retrieval structure 139. In some examples, torque member 334 is configured to insert into a recess defined by IMD 102 when gap G receives retrieval structure 139. For example, as depicted in FIG. 10, IMD 102 (e.g., retrieval structure 139) may define a recess 338 (“IMD recess 338”) extending into IMD 102 (e.g., extending into retrieval structure 139) in distal direction D.

[0155] For example, FIG. 19A illustrates a view of a proximal portion 340 of an example IMD 102 (“IMD proximal portion 340”) including retrieval structure 139, depicted in accordance with the X-Y-Z axes shown, with the X axis proceeding out of the page. FIG. 19B illustrates a view of IMD proximal portion 340 depicted in accordance with the X-Y-Z axes shown, with the Z axis proceeding into the page (e.g., proceeding in distal direction D). FIG. 19C illustrates a view of IMD proximal portion 340 depicted in accordance with the X-Y-Z axes shown, with the Y axis proceeding out of the page. Retrieval structure 139 defines IMD recess 338 extending intoretrieval structure 139 in distal direction D. In examples, IMD recess 338 is defined by a boundary surface 342 (“IMD boundary surface 342”) defined by retrieval structure 139. IMD boundary surface 342 is depicted with dashed lines in FIG. 19A and partially depicted with dashed lines in FIG. 19C.

[0156] In examples, IMD recess 338 is a recess within a proximal surface 344 of IMD 102 (“IMD proximal surface 344”). Retrieval structure 139 and / or IMD proximal portion 340 may define IMD proximal surface 344. In examples, In examples, IMD proximal surface 344 defines one or more proximal ends of IMD 102, such as IMD proximal end 346. IMD boundary surface 342 may define a concavity within IMD proximal surface 344. In examples, IMD 102 (e.g., retrieval structure 139) includes a member 348 extending across IMD recess 338 (e.g., extending from a first side of IMD boundary surface 342 to a second side of IMD boundary surface 342 which substantially faces the first side). Member 348 is depicted with dashed lines in FIG. 19A. In some examples, IMD 102 (e.g., retrieval structure 139) defines a second surface 343 substantially opposite IMD boundary surface 342 and / or IMD proximal surface 344. For example, retrieval structure 139 may be configured such that IMD boundary surface 342 and / or IMD proximal surface 344 substantially face in proximal direction P and second surface 343 substantially faces in distal direction D (e.g., when IMD 102 is within receptacle volume 112).

[0157] Retrieval structure 139 defines a neck portion 341 and a crown portion 345 supported by neck portion 341. In examples, neck portion 341 defines a first cross-sectional dimension DN (e.g., a first diameter or a first polygon diagonal) and crown portion 345 defines a second cross- sectional dimension DC (e.g., a second diameter or a second polygon diagonal), and second cross-sectional dimension DC is greater than first cross-sectional dimension DN. In some examples, first cross-sectional dimension DN is substantially parallel to second cross-sectional dimension DC. In some examples, first cross-sectional dimension DN and / or second cross- sectional dimension DC are substantially perpendicular to a device axis LD defined by a housing 226 (“IMD housing 226”) of IMD 102.

[0158] IMD 102 may be configured such that device axis LD is substantially parallel to or substantially coincident with longitudinal axis L when IMD 102 and head portion 302 are positioned within receptacle volume 112. In examples, first cross-sectional dimension DN is a minimum cross-sectional dimension defined by neck portion 341. Second cross-sectional dimension DC may be a maximum cross-sectional dimension defined by crown portion 345. In some examples, crown portion 345 defines IMD proximal surface 344, IMD proximal end 346, and / or IMD boundary surface 342. Neck portion 341 may define second surface 343. In some examples, at least some portion of crown portion 345 and / or at least some portion of neck portion341 are configured to insert within gap G (FIG. 12) when head portion 302 receives retrieval structure 139 within gap G.

[0159] Torque member 334 (e.g., FIG. 12) may be configured to insert into IMD recess 338 when gap G receives retrieval structure 139. In examples, head portion 302 is configured such that hub 306 transfers a torque to IMD 102 by causing torque member 334 to transfer the torque to IMD boundary surface 342 and / or member 348. Head portion 302 may be configured to impart at least some portion of force FDH to IMD 102 and / or receive at least some portion of force FPI and / or force FDR from IMD 102 via IMD boundary surface 342. Instead of or in addition to imparting and receiving forces via IMD boundary surface 342, head portion 302 may be configured to impart at least some portion of force FDH to IMD 102 and / or receive at least some portion of force FPI and / or force FDR from IMD 102 via member 348.

[0160] In some examples, torque member 334 defines first bearing surface 308. In some examples, first bearing surface 308 is configured to conform to a surface of retrieval structure 139 when torque member 334 inserts into IMD recess 338. For example, first bearing surface 308 may be configured to substantially conform to a portion of IMD boundary surface 342 when torque member 334 inserts into IMD recess 338. In some examples, second bearing surface 316 is configured to substantially conform to a portion of second surface 343 when torque member 334 inserts into IMD recess 338 and head portion 302 receives retrieval structure 139 within gap G.

[0161] In examples, torque member 334 defines a channel boundary surface 333 defining a channel 335. Channel boundary surface 333 may be configured to transfer torque from hub 306 to IMD 102. In examples, channel boundary surface 333 is configured to transfer the torque from hub 306 to retrieval structure 139. In some examples, channel boundary surface 333 is configured to transfer the torque from hub 306 to member 348. Channel 335 may substantially be a recess extending into torque member 334 (e.g., extending in proximal direction P). Channel 335 may be configured to receive member 348, such that channel boundary surface 333 may transfer the torque to member 348. In examples, head portion 302 is configured such that channel 335 receives member 348 when torque member 334 inserts into IMD recess 338. Head portion 302 may be configured such that channel 335 receives member 348 when IMD 102 (e.g., retrieval structure 139) is positioned within gap G. In examples, head portion 302 is configured such that channel 335 receives member 348 when base surface 336 contacts IMD proximal surface 344.

[0162] In some examples, torque member 334 is configured to protrude from a base surface 336 (FIG. 13, FIG. 14) defined by hub 306. Base surface 336 may be configured to substantially face in distal direction D when head portion 302 resides within receptacle volume 112. In examples, base surface 336 is configured to contact retrieval structure 139 when gap G receivesretrieval structure 139. In some examples, base surface 336 may be configured to impart at least some portion of force FDH (FIG. 12) to IMD 102 and / or receive at least some portion of force FDR and / or force FPI from IMD 102. For examples, base surface 336 may be configured to impart at least some portion of force FDH to IMD proximal surface 344 and / or receive at least some portion of force FDR and / or force FPI from IMD proximal surface 344.

[0163] In some examples, base surface 336 is configured to conform with IMD proximal surface of retrieval structure 139. Base surface 336 may be configured to conform with IMD proximal surface 344 and / or IMD proximal end 346 when gap G receives retrieval structure 139. For example, when IMD proximal surface 344 defines a substantial convexity of crown portion 345 (e.g., a convexity extending in proximal direction P), base surface 336 may define a substantially concavity within hub 306 that conforms with the substantial convexity when base surface 336 contacts IMD proximal surface 344. In examples, base surface 336 is configured to contact IMD proximal surface 344 and / or IMD proximal end 346 when gap G receives retrieval structure 139.

[0164] Referring primarily to FIG. 17, in some examples, support member 318 may be a substantially curved member which defines a curvature as support member 318 extends from member proximal portion 322 to member distal portion 324. For example, support member 318 may define a member axis MA defining a curvature as member axis MA extends from member proximal portion 322 to member distal portion 324. In examples, support member 318 is configured such that a projection of support member 318 onto the X-Y plane defines the curvature in the X-Y plane. The curvature of support member 318 may provide for an increased length of support member 318 and member axis MA between member proximal portion 322 and member distal portion 324. The increased length may assist in the effectiveness of a resilient biasing of support member 318, such that support member 318 more effectively expands radially outward from hub 306 when head portion 302 exits receptacle volume 112. Support member 326 and / or support member 330 may define a similar curvature in the same manner as support member 318.

[0165] In some examples, head portion 302 includes one or more fixed walls such as wall 376, wall 378, and / or wall 380 configured to assist in aligning head portion 302 and IMD 102 (e.g., both when IMD 102 is outside of receptacle volume 112 and when IMD 102 is within receptacle volume 112). In examples, wall 376, 378, 380 extend in distal direction D from hub 306. Wall 376, 378, 380 may be configured to contact IMD 102 (e.g. retrieval structure 139) when head portion 302 is within proximity to IMD 102. For example, wall 376, 378, 380 may be configured to contact IMD 102 to guide base surface 336 toward IMD 102 (e.g., toward IMD proximal surface 344). For example, wall 376, 378, 380 may be configured to contact IMD 102to guide torque member 334 toward IMD 102 (e.g., toward IMD recess 338).

[0166] In examples, wall 376, wall 378, and / or wall 380 comprise a plurality of fixed walls arranged around a perimeter surrounding torque member 334 and / or base surface 336. In examples, each fixed wall of the plurality defines an inner surface substantially facing inward toward longitudinal axis L, such as inner surface 382 of fixed wall 376, inner surface 384 of fixed wall 378, and / or inner surface 386 of fixed wall 380. Inner surface 382, inner surface 384, and / or inner surface 386 may be configured to contact and / or slide over some portion of IMD 102 (e.g., crown portion 345 of retrieval structure 139) as head portion 302 moves toward IMD 102. Inner surface 382, inner surface 384, and / or inner surface 386 may act to substantially keep head portion 302 aligned with IMD 102 such that, for example, head portion 302 maintains IMD 102 within gap G in the engagement configuration and / or captures IMD 102 within gap G when head portion 302 transitions from the disengagement configuration to the engagement configuration.

[0167] In some examples, a first fixed wall in the plurality of fixed walls is separated from an adjacent second fixed wall in the plurality of fixed walls by a spacing (e.g., an empty spacing). One of end portion 320, end portion 328, or end portion 332 may be configured to insert into the spacing when head portion 302 is in the engagement configuration. In some examples, each fixed wall is separated from an adjacent fixed wall by an individual spacing, and each end portion (e.g., each of end portion 320, end portion 328, and end portion 332) is configured to insert into one of the individual spacings when head portion 302 is in the engagement configuration (e.g., as depicted in FIG. 9).

[0168] As discussed, elongate body 106 may include shapeable body 148 configured to define and retain one or more curves in response to a bending force (e.g., a bending force imparted by a clinician). The clinician may visualize, observe, and / or otherwise assess a desired transit path of elongate body 106 and / or shapeable body 148 through heart 101 and / or vasculature of the patient and cause shapeable body 148 to define the one or more curves to substantially mimic the desired transit path to assist in the delivery of IMD 102 to target site 103.

[0169] For example, FIG. 20 schematically illustrates delivery system 105 and heart 101 prior to insertion of elongate body 106 within heart 101 of a patient (e.g., via access 146). A situation similar to FIG. 20 may be present, for example, during an open heart surgery on heart 101, when a clinician may have a relatively unencumbered view of heart 101. The clinician may visualize, observe, and / or otherwise assess a desired transit path of elongate body 106 through heart 101 of the patient. The clinician may bend shapeable body 148 (e.g., to define curve CV1 and / or curve CV2) such that elongate body 106 substantially mimics the transit path visualized, observed, and / or otherwise assessed for the patient. Elongate body 106 is configured to retain thecurves generated by the clinician as elongate body 106 transits toward target site 103 (e.g., via access 146) to assist in, for example, delivery of IMD 102 to target site 103 within the patient.

[0170] Although FIG. 20 depicts a situation providing a relatively unencumbered view of heart 101, this is not required for use of delivery system 105. Delivery system 105 may be utilized in minimally invasive heart procedures or other procedures for delivery of a medical device such as IMD 102 to an anatomical volume of a patient. A clinician may bend shapeable body 148 to cause elongate body 106 to substantially mimic a transit path visualized, observed, and / or otherwise assessed for the minimally invasive heart procedure or other procedure for delivery of the medical device.

[0171] Shapeable body 148 is configured such that first curve CV1, second curve CV2, or other curves may be defined (e.g., through bending force imparted by a clinician) at any one of a variety of locations on shapeable body 148. Shapeable body 148 may be configured such first curve CV1, second curve CV2, or the other curve may define any angle of curvature over a range of angles of curvature. Shapeable body 148 may be configured such that curve CV1, curve CV2, and / or other curves may be produced (e.g., in response to one or more bending forces imparted by a clinician) at locations and with curvatures specific to a particular patient, such that elongate body 106 substantially mimics a transit path visualized, observed, and / or otherwise assessed for the particular patient. Further, shapeable body 148 may be configured such that first curve CV1 extends through a first plane-of-curvature, second curve CV2 extends through a second plane-of curvature different from the first plane-of-curvature, and curves defined by shapeable body 148 extend through a respective planes-of-curvature different from the first plane-of-curvature and the second plane-of curvature. Hence, shapeable body 148 may be configured to define a plurality of curves (e.g., in response to bending forces) to substantially mimic a wide variety of transit paths, depending on a specific transit path visualized, observed, and / or otherwise assessed by a clinician for a given patient.

[0172] In some examples, shapeable body 148 includes one or more rigid portions such as a coupler 210 configured to serve as a location for the impartation of a bending force to, for example, minimize the impartation of bending forces on certain portions of elongate body 106 (e.g., device receptacle 108). A rigid portion may be configured to retain a shape when a bending force is imparted to the rigid portion, or configured (e.g., resiliently biased) to return to an initial shape present prior to the impartation when the bending force ceases to act on the rigid portion. In examples, a rigid portion of the one or more rigid portions is a portion of shapeable body 148 located substantially between shapeable body proximal end 150 and shapeable body distal end 152. In some examples, the rigid portion defines shapeable body proximal end 150 or shapeable body distal end 152. The rigid portion may be configured to cause another portion of shapeablebody 148 to alter its curvature (e.g., to define first curve CV1 or second curve CV2) when a bending force is imparted to the rigid portion (e.g., by a clinician). In some examples, the rigid portion is a first portion of shapeable body 148 which is unitary (e.g., materially contiguous with) another portion of and / or a remainder of shapeable body 148. In some examples, the rigid portion defines a substantially rigid layer of shapeable body 148 (e.g., a layer overlaying some portion of elongate body outer surface 190 comprising shapeable body 128 and / or a layer positioned within shapeable body 128 under the portion of elongate body outer surface 190 comprising shapeable body 128). One or more rigid portions (e.g., coupler 210) may be located on shapeable body 148 to, for example, discourage the application of bending forces to device receptacle 108, which, in some examples, might impact a position of IMD 102 within receptacle volume 112.

[0173] In some examples, in addition to or instead of one or marks defined by support portion body 132, receptacle wall 113 may be configured to allow a clinician to determine a position of IMD 102 when IMD 102 is within receptacle volume 112. In examples, receptacle wall 113 is configured to provide a visual indication indicative of a position of IMD 102 within receptacle volume 112. The visual indication may assist a clinician during deployment of IMD 102 using elongate body 106 when device receptacle 108 is observable by the clinician (e.g., prior to a procedure, during an open-heart procedure, or during another period). For example, at least some portion of receptacle wall 113 may be transparent, such that at least some portion of IMD 102 is visible as IMD 102 is positioned within device receptacle 108. In some examples, at least some portion of receptacle wall 113 defines a window (e.g., an opening in addition to receptacle opening 111) through which at least some portion of IMD 102 is visible as IMD 102 is positioned within device receptacle 108. In some examples, an outer surface 212 defined by receptacle wall 113 (“receptacle outer surface 212”) may define a mark M10 which corresponds to a position of IMD 102 within device receptacle 108. For example, mark M10 may correspond to an expected position of some portion of IMD 102 (e.g., a distal end or some other portion) within device receptacle 108 when IMD 102 is loaded into device receptacle 108.

[0174] In examples, elongate body 106 (e.g., shapeable body 148) includes one or more markings observable by the clinician to substantially indicate a location of device receptacle 108 and / or IMD 102 (e.g., within heart 101) as elongate body 106 transits toward target site 103. For example, elongate body 106 may include a mark M7 on elongate body outer surface 190 configured to indicate when device receptacle 108 and / or IMD 102 is in proximity to a first anatomical location and / or structure of the patient (e.g., the TV of heart 101) as elongate body 106 transits to target site 103 (e.g., via access 146). Elongate body 106 may include a mark M8 on elongate body outer surface 190 configured to indicate when device receptacle 108 and / or IMD 102 is in proximity to a second anatomical location and / or structure of the patient (e.g., atarget site 103 in lower septal wall of heart 101) as elongate body 106 transits to target site 103 (e.g., via access 146). In examples, elongate body outer surface 190 includes at least some portion of an outer surface defined by shapeable body 148. In examples, a mark (e.g., mark M7 or mark M8) is configured to define a distance between the mark and a reference point of medical system 100, such as receptacle distal end 110. In some examples, elongate body outer surface 190 is configured to retain a mark of, for example, a biocompatible ink delivered by a medical marking device 214. In examples, medical marking device 214 is a marker or other device configured to be controlled (e.g., held) by a clinician, such that the clinician may use medical marking device 214 to produce one or more marks such as mark M5 and / or mark M6.

[0175] In some examples, elongate body 106 is configured to provide (e.g., to a clinician) an indication of a rotational orientation of shapeable body 148 and / or device receptacle 108 (e.g., a rotational orientation relative to the RA, the RV, the TV, or another portion of heart 101). Elongate body 106 may be configured to provide (e.g., to the clinician) an indication of a degree of rotation of shapeable body 148 and / or device receptacle 108 (e.g., a degree of rotation about longitudinal axis L). For example, elongate body 106 may include a mark M9 (e.g., on elongate body outer surface 190) which indicates a rotational orientation of shapeable body 148 and / or device receptacle 108 relative to the RA, the RV, the TV, or another portion of heart 101. Mark M9 may be configured to rotate around longitudinal axis L when shapeable body 148 and / or device receptacle 108 rotates about longitudinal axis L such that a rotational displacement of mark M9 is indicative or a rotation of shapeable body 148 and / or device receptacle 108. In examples, mark M9 is a substantially permanent mark on shapeable body outer surface 148 and / or elongate body outer surface 190. In some examples, mark M9 may extend substantially from elongate body proximal end 180 and / or shapeable body proximal end 150 to elongate body distal end 182 and / or shapeable body distal end 152, although this is not required.

[0176] FIG. 21 is a schematic plan view of medical system 100 including shapeable body 148 in a first configuration. In the first configuration, shapeable body 148 (e.g., shapeable distal portion 156) defines a first curvature Cl of substantially zero, and defines (e.g., with shapeable proximal portion 158) a second curvature C2 of substantially zero (e.g., shapeable distal portion 156 and shapeable proximal portion 158 are substantially straight). FIG. 22 is a schematic plan view of medical system 100 with shapeable body 148 in a second configuration. In the second configuration, shapeable body 148 (e.g., shapeable distal portion 156) defines a third curvature C3 different from first curvature Cl, and defines (e.g., with shapeable proximal portion 158) a fourth curvature C4 different from second curvature C2. In FIG. 22, third curvature C3 and fourth curvature C4 cause shapeable body 148 to define first curve CV1 and second curve CV2.

[0177] Shapeable body 148 configured to bend and / or flex to alter its curvature in response toa bending force imparted to shapeable body 148. For example, shapeable distal portion 156 may be configured to bend and / or flex to define first curve CV1 in response to a bending force Fl imparted to shapeable distal portion 156 (e.g., imparted by a clinician). Shapeable proximal portion 158 may be configured to bend and / or flex to define second curve CV2 in response to a second bending force F2 imparted to shapeable proximal portion 158 (e.g., imparted by a clinician). Shapeable body 148 may further bend and / or flex in response to other bending forces imparted (e.g., by the clinician) at other locations to define other curves in addition to first curve CV1 and / or second curve CV2. Hence, elongate body 106 may be configured to allow a clinician to manipulate shapeable body 148 (e.g., through impartation of bending forces) to define a plurality of curves over a plurality of locations on shapeable body 148, such that elongate body 106 defines a desired shape between shapeable body proximal end 150 and shapeable body distal end 152.

[0178] In examples, shapeable body 148 is configured to receive bending force Fl and / or second bending force F2 from a clinician in order to cause shapeable body 148 to define one or more curves such as first curve CV1 and / or second curve CV2. Shapeable body 148 may be configured to retain first curve CV1 when bending force Fl ceases to act on shapeable body 148 (e.g., when the clinician ceases to impart bending force Fl). Shapeable body 148 may be configured to retain second curve CV2 when second bending force F2 ceases to act on shapeable body 148 (e.g., when the clinician ceases to impart second bending force F2). In examples, shapeable body 148 is configured to bend and / or flex in response to a hand force delivered by the clinician, such that the clinician may manipulate shapeable body 148 to define a shape anticipated to ease a transit of elongate body 106 over transit path visualized, observed, and / or otherwise assessed by the clinician. For example, shapeable body 148 may be configured to bend and / or flex to define one or more curves (e.g., first curve CV1 and / or second curve CV2 ) in response to a bending force Fl and / or second bending force F2 (e.g., delivered by the clinician) of less than or equal to about 10 pound-force.

[0179] Shapeable body 148 may be configured to receive bending force Fl (and / or second bending force F2 and / or other bending forces) in any manner. For example, shapeable body 148 may be configured to receive bending force Fl via an impartation of bending force Fl on elongate body outer surface 190. Shapeable body 148 may be configured such that a clinician may impart bending force Fl on elongate body outer surface 190 using, for example, a tool or a digit of the clinician’s hand. In some examples, shapeable body 148 is configured to receive bending force Fl from a component (e.g., a wire or other body) configured to cause bending force Fl. The component may be configured to impart bending force Fl when a force is imparted (e.g., by a clinician) on the component. For example, the component may be configured to impartbending force Fl to shapeable body 148 in response to a pushing or pulling force exerted on the component (e.g., by the clinician). In examples, the component (e.g., a wire or other body) is attached to and / or embedded within elongate body 106 and / or shapeable body 148. The component may be configured to transfer the force imparted (e.g., by a clinician) on the component to elongate body 106 and / or shapeable body 148 to cause bending force Fl on elongate body 106 and / or shapeable body 148.

[0180] Elongate body lumen 140 extends at least from shapeable body proximal end 150 to shapeable body distal end 152 and opens into receptacle volume 112 of device receptacle 108. A first portion LI of longitudinal axis L extending through shapeable distal portion 156 may be substantially linear when shapeable distal portion 156 defines first curvature Cl of substantially zero (e.g., when shapeable distal portion 156 is substantially straight). The first portion LI may be curved when, as depicted in FIG. 21, shapeable distal portion 156 defines third curvature C3. Similarly, a second portion L2 of longitudinal axis L extending through shapeable proximal portion 158 may be substantially linear when shapeable proximal portion 158 defines second curvature C2 of substantially zero (e.g., when shapeable proximal portion 158 is substantially straight), and may be curved when shapeable proximal portion 158 defines fourth curvature C4 different from second curvature C2.

[0181] In some examples, first curvature Cl and third curvature C3 of shapeable distal portion 156 are curvatures of longitudinal axis L determined with respect to a normal vector VI perpendicular to and passing through first portion LI of longitudinal axis L. Shapeable body 148 may be configured to alter the curvature of first portion LI with respect to normal vector VI when shapeable body 148 transitions from the first configuration defining first curvature Cl to the second configuration defining third curvature C3. For example, in some examples, third curvature C3 may define a curvature of first portion LI with respect to normal vector VI that is more positive or more negative than a curvature of first portion LI with respect to normal vector VI defined by first curvature CL In some examples, second curvature C2 and fourth curvature C4 of shapeable proximal portion 158 are curvatures of second portion L2 of longitudinal axis L determined with respect to a normal vector V2 perpendicular to and passing through second portion L2. Shapeable body 148 may be configured to alter the curvature of second portion L2 with respect to normal vector V2 when shapeable body 148 transitions from the first configuration defining second curvature C2 to the second configuration defining fourth curvature C4. For example, in some examples, fourth curvature C4 may define a curvature of second portion L2 with respect to normal vector V2 that is more positive or more negative than a curvature of second portion L2 with respect to normal vector V2 defined by second curvature C2.

[0182] In some examples, shapeable body 148 is configured such that first curvature Cl maydefine an angle of curvature of greater than about 170 degrees and third curvature C3 may define an angle of curvature of less than about 120 degrees. Shapeable body 148 may be configured such that second curvature C2 defines an angle of curvature of greater than about 170 degrees and fourth curvature C4 defines an angle of curvature of less than about 120 degrees. In some examples, instead of or in addition to altering the curvature of longitudinal axis L, shapeable body 148 is configured to alter a curvature of an outer surface of shapeable body 148 (e.g., a curvature of some portion of elongate body outer surface 190) when a bending force Fl and / or second bending force F2 acts on shapeable body 148.

[0183] In examples, shapeable body 148 includes a shapeable material 222 configured to define the one or more curves in response to bending force Fl, F2 acting on the shapeable material 222. Shapeable material 222 may be configured to retain the one or more curves when bending force Fl, F2 ceases to act on shapeable material 222. For example, shapeable material 222 may be configured to deform from an initial shape (e.g., one in which shapeable body 148 defines one of PT1, PT2, or PT3) to a subsequent shape (e.g., one in which shapeable body 148 defines another of PT1, PT2, or PT3) in response to bending force Fl, F2 acting on the shapeable material 222. Shapeable material 222 may be configured to retain the subsequent shape when bending force Fl, F2 ceases to act on shapeable material 222. In examples, shapeable body 148 includes shapeable material 222 and one or more additional materials. Shapeable material 222 may be configured to cause at least some portion of the additional materials to define one or more curves when shapeable material 222 defines the one or more curves. Shapeable material 222 may comprise any portion of shapeable body 148.

[0184] In examples, elongate body 106 and / or shapeable body 148 includes a polymer material such as polyvinyl Chloride (PVC) and / or Pebax (available from Arkema S. A.) In some examples, shapeable material 222 is a wire configured to deform from an initial shape to a subsequent shape and retain the subsequent shape. The wire may be, for example, a stainless steel wire. In examples, the wire is a round Bend-and-Stay Multipurpose 304 Stainless Steel Wire (available from McMaster-Carr).

[0185] In examples, device receptacle 108 is a substantially rigid member and / or a substantially elastically deforming member configured to retain its shape when shapeable body 148 defines one or more curves (e.g., first curve CV1 and / or second curve CV2). Device receptacle 108 may be configured to retain its shape when shapeable body 148 transitions from the first configuration defining first curvature Cl to the second configuration defining curvature C2. In examples, device receptacle 108 is configured to maintain a receptacle volume shape of receptacle volume 112 when shapeable body 148 transitions from the first configuration to the second configuration. For example, device receptacle 108 may be configured to substantiallymaintain its cross-sectional area defined perpendicular to longitudinal axis L when shapeable body 148 transitions from the first configuration defining first curvature Cl to the second configuration defining curvature C2.

[0186] Shapeable body 148 is configured to define curves over a plurality of planes of curvature. For example, FIG. 23 depicts elongate body 106 defining a plurality of paths from shapeable body proximal end 150 to receptacle distal end 110 in a three-dimensional space defined by an x-axis, a y-axis perpendicular to the x-axis, and a z-axis perpendicular to the x-axis and perpendicular to the y-axis. Shapeable body proximal end 150 is positioned at an origin G of the three-dimensional space defined the x-axis, the y-axis, and the z-axis. In one example, shapeable body 148 defines a first plurality of curves 216 to cause elongate body 106 to define a first path PT1 from shapeable body proximal end 150 to receptacle distal end 110. Shapeable body 148 may pass through a first set of points (Cl, C2, C3,. . ,,CN) defined by the x-axis, the y- axis, and the z-axis as elongate body 106 defines first path PT1. In another example, shapeable body 148 defines a second plurality of curves 218 to cause elongate body 106 to define a second path PT2 from shapeable body proximal end 150 to receptacle distal end 110. Shapeable body 148 may pass through a second set of points (DI, D2, D3,. . ,,DN) defined by the x-axis, the y- axis, and the z-axis as elongate body 106 defines second path PT2. In a further example, shapeable body 148 defines a third plurality of curves 220 to cause elongate body 106 to define a third path PT3 from shapeable body proximal end 150 to receptacle distal end 110. Shapeable body 148 may pass through a third set of points (El, E2, E3,...,EN) defined by the x-axis, the y- axis, and the z-axis as elongate body 106 defines third path PT3.

[0187] Shapeable body 148 is configured such that first path PT1, second path PT2, and third path PT3 may define different pathways through the three-dimensional space. For example, the first set of points (Cl, C2, C3,. . ,,CN) may include one or more points (e.g., one or more set elements) which are not present in the second set of points (DI, D2, D3,. . ,,DN) and / or the third set of points (El, E2, E3,. . ,,EN). The second set of points (DI, D2, D3,. . ,,DN) may include one or more points (e.g., one or more set elements) which are not present in the third set of points (El, E2, E3,. . ,,EN). In some examples, each of first path PT1, second path PT2, third path PT3, and / or other paths defined by shapeable body 148 define a set of points which define a range over the x-axis, a range over the y-axis, and a range over the z-axis, such that shapeable body 148 defines a pathway through the three-dimensional space. Shapeable body 148 is configured to cause elongate body 106 to define first path PT1, second path PT2, or third path PT3 in response to bending forces imparted to shapeable body 148 (e.g., by a clinician). Shapeable body 148 is configured to cause elongate body 106 to retain (e.g., to continue defining) first path PT1, second path PT2, or third path PT3 when the bending forces cease to act on shapeable body 148 (e.g.,when the clinician ceases to impart the bending forces).

[0188] FIG. 24 depicts a schematic plan view of a elongate body 106 including one or more marks and / or one or more zones configured to indicate a location and / or orientation of device receptacle 108 and / or IMD 102 with respect to the one or more marks and / or one or more zones. The one or more markings and / or one or more zones may be configured to provide a visual indication observable by a clinician to assist the clinician in assessing a location of device receptacle 108 and / or IMD 102 within heart 101. Note that although FIG. 13 depicts elongate body 106 including both one or more marks and one or more zones, this is not required. Elongate body 106 may include one or more marks and not include zones, may include one or more zones and not include marks, or may include both one or more marks and one or more zones.

[0189] A mark and / or zone may be configured to define a distance over elongate body outer surface 190 and / or device receptacle 108 from the mark and / or the zone to a reference point on delivery system 105, such as receptacle distal end 110. For example, as depicted in FIG. 13, mark M7 and / or zone Z1 may define a distance SI over elongate body outer surface 190 and / or device receptacle 108 from mark M7 and / or zone Z1 to receptacle distal end 110. Mark M8 and / or zone Z2 may define a distance S2 over elongate body outer surface 190 and / or device receptacle 108 from mark M8 and / or zone Z2 to receptacle distal end 110. Mark M7, mark M8, first zone Zl, and / or second zone Z2 may be configured to provide a visual indication observable by a clinician to assist the clinician in assessing a location of device receptacle 108 and / or IMD 102 within heart 101 when device receptacle 108 and / or IMD 102 may have limited visibility to the clinician. In examples, zone Zl exhibits a first visual aspect and a zone Z2 exhibits a second visual aspect different from the first visual aspect such that, for example, a clinician may differentiate visually between zone Zl and zone Z2.

[0190] For example, when elongate body 106 is deployed through access 146 of heart 101, portions of elongate body 106 (e.g., some portion of shapeable distal portion 156 and / or device receptacle 108) may have limited visibility to a clinician as elongate body 106 is deployed (e.g., by the clinician) toward target site 103. Elongate body 106 may be configured such that the clinician may observe a position of mark M7, mark M8, first zone Zl, and / or second zone Z2 relative to, for example, some portion of access 146 to assess a proximity of device receptacle 108 and / or IMD 102 to target site 103 as elongate body 106 is deployed. Elongate body 106 may be configured such that the clinician may observe a change in the position of mark M7, mark M8, first zone Zl, and / or second zone Z2 (e.g., a displacement thereof) as elongate body 106 is deployed to, for example, assess the resulting displacement of device receptacle 108 and / or IMD 102. For example, a specific mark or zone (e.g., mark M7 and / or zone Zl) may allow a clinician to assess a proximity of receptacle distal end 110 to the TV based on a position of the specificmark or zone relative to access 146 (FIG. 1). A specific mark or zone (e.g., mark M8 and / or zone Z2) may allow a clinician to assess a proximity of receptacle distal end 110 to an apex of heart 101 based on a position of the specific mark or zone relative to access 146 (FIG. 1).

[0191] Referring to FIG. 4, in examples, IMD 102 includes processing circuitry 224 (“IMD processing circuitry 224”). Medical system 100 may be configured to use IMD processing circuitry 224 to sense an intrinsic electrical signal generated by heart 101 to, for example, assess electrical activity in proximity of IMD 102 (e.g., in proximity to attachment member 109), conduct pace mapping to determine a suitable placement of IMD 102, evaluate a suitability of pacing delivered by IMD 102 at a particular location, evaluate a position of IMD 102 during an implantation, evaluate a placement of a device electrode relative to a vessel wall, and / or for other reasons. In examples, IMD processing circuitry 224 is mechanically supported by IMD housing 226. IMD housing 226 may enclose processing circuitry 224 and / or other circuitry of IMD 102. IMD housing 226 may be configured to fluidly isolate processing circuitry 224 and / or other circuitry from an environment in contact with an exterior surface of IMD housing 226. In examples, IMD housing 226 is configured to hermetically seal an enclosure defined by IMD 102 and holding processing circuitry 224 and / or other circuitry.

[0192] IMD housing 226 may be configured to define shapes that are easily accepted by the patient's body while minimizing patient discomfort. For example, IMD housing 226 may define a substantially cylindrical shape with cylindrical sidewalls. In other examples, IMD housing 226 may define substantially rectangular or other non-cylindrical shapes. IMD housing 226 may define shapes in which corners and edges are designed with relatively large radii, in order to present a housing having smoothly contoured exterior surfaces. In examples, attachment member 109 is coupled to IMD housing 226. In examples, IMD housing 226 defines a distal portion 225 of IMD 102 (“IMD distal portion 225”) and IMD proximal portion 340 substantially opposite IMD distal portion 225. In examples, IMD distal portion 225 supports attachment member 109. IMD proximal portion 340 supports retrieval structure 139.

[0193] In some examples, IMD 102 mechanically supports one or more device electrodes 228 such as an IMD atrial electrode 230 supported by IMD distal portion 225, an IMD return electrode 234 supported by IMD housing 226, and / or other electrodes supported by IMD 102, Device electrodes 228 may be configured to communicate with processing circuitry (e.g., IMD processing circuitry 224 and / or other processing circuitty). Processing circuitry 224 may be configured to process and / or condition a signal sensed by device electrodes 228 and / or other electrodes within medical system 100. IMD 102 may comprise a pacemaker such as a leadless and / or wholly intracardiac pacemaker. One or more of device electrodes 228 may be electrically connected to processing circuitry 224. Processing circuitry 224 may be operable connected tooperating circuitry configured to deliver therapy to a patient and / or sense physiological signals of the patient using device electrodes 228.

[0194] Processing circuitry 224 may include fixed function circuitry and / or programmable operating circuitry. In examples, processing circuitry 224 includes circuitry configured to perform one or more functions of operating circuitry, such as therapy delivery circuitry, sensing circuitry, processing circuitry, switching circuitry, communication circuitry, and / or other circuitries. Processing circuitry 224, as well as other processors, operating circuitry, controllers, control circuitry, and the like, described herein, may include any combination of integrated circuitry, discrete logic circuity, analog circuitry, such as one or more microprocessors, digital signal processors (DSPs), application specific integrated circuits (ASICs), or field-programmable gate arrays (FPGAs). In some examples, processing circuitry 224 includes multiple components, such as any combination of one or more microprocessors, one or more DSPs, one or more ASICs, or one or more FPGAs, as well as other discrete or integrated logic circuitry, and / or analog circuitry.

[0195] Functions attributed to processing circuitry 224 may be embodied as software, firmware, hardware or any combination thereof. Processing circuitry 224 may include, for instance, a variety of capacitors, transformers, switches, and the like configured to perform the functions of processing circuitry 224. In examples, processing circuitry 224 may be configured to communicate with another device, such as a patient input / output device, a clinician input / output device, and / or others. Processing circuitry 224 may include any suitable hardware, firmware, software or any combination thereof for communicating with another device. In addition, processing circuitry 224 may communicate with a networked computing device and a computer network. In examples, processing circuitry 224 and / or other circuitry of medical system 100 is configured to deliver stimulation signals to and / or receive sensing signals from device electrodes 228 and / or other electrodes and / or sensors within medical system 100 or external to medical system 100. Processing circuitry 224 may be configured to provide electrical signals, e.g., pacing therapy, to device electrodes 228 and / or other electrodes within medical system 100. Processing circuitry 224 may be configured to receive electrical signals, e.g., sensed cardiac electrical signals, from device electrodes 228 and / or other electrodes within medical system 100.

[0196] Medical system 100 (e.g., processing circuitry 224) can also include memory configured to store program instructions, such as software, which may include one or more program modules, which are executable by processing circuitry 224. The program instructions may be embodied in software and / or firmware. The memory can include any volatile, nonvolatile, magnetic, optical, or electrical media, such as a 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 media. In some examples, the memory includes computer-readable instructions that, when executed by processing circuitry 224 cause processing circuitry 224 to perform various functions described herein and / or other functions of processing circuitry 224.

[0197] As used here, when a first portion of a system (e.g., medical system 100) supports a second portion of the system, this means that when the second portion causes a first force to be exerted on the first portion, the first portion causes a second force to be exerted on the second portion in response to the first force. The first force and / or second force may be a contact force and / or an action-at-a-distance force. For example, first force and / or second force may be mechanical force, a magnetic force, a gravitational force, or some other type of force. The first portion of the system may be a portion of the system or a portion of a component of the system. The second portion of the system may be another portion of the system or another portion of the same component or a different component. In some examples, when the first portion of the system supports the second portion of the system, this may mean the second portion is mechanically supported by and / or mechanically connected to the first portion.

[0198] A technique for supporting a device receptacle is illustrated in FIG. 25. Although the technique is described mainly with reference to medical system 100 of FIGS. 1-24, the technique may be applied to other medical systems in other examples.

[0199] The technique includes transferring, using a plunger body 124 of a delivery device 104, a force F to a linking body 134 of a linking system 133 (2502). In examples, plunger body 124 extends at least partially within a support portion lumen 128 defined by a support portion body 132 when plunger body 124 transfers force F to linking body 134. In examples, plunger body 124 moves relative to support portion body 132 (e.g., a support body wall 174) when plunger body 124 transfers force F to linking body 134. Plunger body 124 may transfer force F to linking body 134 in the distal direction D and / or the proximal direction P. In examples, plunger body 124 transfers force F to linking body 134 in a direction defined by a longitudinal axis L extending through support portion lumen 128.

[0200] In examples, transferring force F using plunger body 124 includes receiving, by a plunger flange 126, force F. The technique may include imparting, using an engagement member 130, a second force F2 on support portion body 132 in a direction opposite a direction of force F when plunger body 124 transfers force F. In examples, a bracing member 192 limits motion of plunger body 124 in a radial direction when plunger body 124 transfers force F to linking body 134. In examples, bracing member 192 moves relative to support portion body 132 when plunger body 124 moves relative to support portion body 132. Bracing member 192 may contact asupport body wall 174 when plunger body 124 extends within support portion lumen 128. The technique may include imparting, using an elastic member 171, a force FS on plunger body 124 when plunger body 124 transfers force F to linking body 134. In examples, plunger body 124 transfers force F in a first direction and elastic member 171 imparts force FS in a second direction opposite the first direction.

[0201] The technique includes transferring, using linking body 134, force F received from plunger body 124 to a head portion 136, 302 of linking system 133 (2504). Linking body 134 may extend within an elongate body lumen 140 defined by an elongate body 106 coupled to support portion body 132 when linking body 134 transfers force F to head portion 136, 302. In examples, linking body 134 may extend at least partially within support portion lumen 128 when linking body 134 transfers force F to head portion 136, 302. In examples, linking body 134 may extend at least partially within a receptacle volume 112 defined by a device receptacle 108 coupled to elongate body 106 when linking body 134 transfers force F to head portion 136, 302. Plunger body 124 may cause, using force F, linking body 134 to move relative to elongate body 106 (e.g., elongate body wall 186) when linking body 134 transfers force F to head portion 136, 302. Linking body 134 may transfer force F to head portion 136, 302 in the distal direction D when plunger body 124 transfers force F to linking body 134 in the distal direction D. Linking body 134 may transfer force F to head portion 136, 302 in the proximal direction P when plunger body 124 transfers force F to linking body 134 in the proximal direction D.

[0202] In examples, the technique includes moving, using linking body 134, head portion 136, 302 within receptacle volume 112 when plunger body 124 transfers force F to linking body 134. Linking body 134 may cause, using force F, head portion 136, 302 to move relative to device receptacle 108 (e.g., receptacle wall 113) when head portion 136, 302 moves within receptacle volume 112. Head portion 136, 302 may move within receptacle volume 112 in the distal direction D when plunger body 124 transfers force F to linking body 134 in the distal direction D. Head portion 136, 302 may move within receptacle volume 112 in the proximal direction P when plunger body 124 transfers force F to linking body 134 in the proximal direction P. In examples, the technique includes maintaining, using receptacle wall 113, head portion 136, 302 in an engagement configuration when head portion 136, 302 moves with receptacle volume 112.

[0203] In examples, the technique includes transferring, using head portion 136, 302, force F received from linking body 134 to an IMD 102 within receptacle volume 112. Head portion 136, 302 may cause, using force F, IMD 102 to move within receptacle volume 112 relative to device receptacle 108 (e.g., receptacle wall 113). IMD 102 may move within receptacle volume 112 in the distal direction D when linking body 134 transfers force F to head portion 136, 302 in thedistal direction D, and / or may move within receptacle volume 112 in the proximal direction P when linking body 134 transfers force F to head portion 136, 302 in the proximal direction P. In examples, head portion causes, using force F, IMD 102 to move toward and / or through a receptacle opening 111 of device receptacle 108. The technique may include engaging, using head portion 136, 302, IMD 102 within receptacle volume 112 (e.g., when head portion 136, 302 is in the engagement configuration).

[0204] In examples, head portion 136, 302 transfers force F (e.g., force FDH) to IMD 102 (e.g., retrieval structure 139) via first bearing surface 308 of hub 306. In response to receiving force F, IMD 102 may transfer force FDR to hub 306 (e.g., via first bearing surface 308). In some examples, head portion 136, 302 transfers a force opposite force F (e.g., force FPE) to IMD 102 (e.g., retrieval structure 139) via second bearing surface 316 of hub 306. In response to receiving force FPE, IMD 102 may transfer force FPI to hub 306 (e.g., via first bearing surface 308). In some examples, when head portion 136, 302 transfers force F or the force opposite force F to IMD 102, head portion 136, 302 substantially traps a portion of IMD 102 (e.g. retrieval structure 139) between end portion 320, 328, 332 and hub 306.

[0205] In examples, the technique includes causing, using linking body 134, head portion 136, 302 to move through receptacle opening 111 from a position within receptacle volume 112 to a position outside of receptacle volume 112. The technique may include causing, using receptacle wall 113, head portion 136, 302 to transition from the engagement configuration to a disengagement configuration when head portion 136, 302 moves through receptacle opening 111. The technique may include releasing, using head portion 136, 302, IMD 102 (e.g., when head portion 136, 302 transitions from the engagement configuration to the disengagement configuration).

[0206] In examples, the technique includes engaging, using an attachment member 109 of IMD 102, tissue of a patient. The technique may include causing, using head portion 136, 302, attachment member 109 to engage the tissue by imparting a force in the distal direction D or a torque around longitudinal axis L on IMD 102. In examples, the technique includes imparting, using head portion 136, 302, a force in the proximal direction P when attachment member 109 engages the tissues (e.g., when head portion 136, 302 is in the engagement configuration). The technique may include releasing, using head portion 136, 302, IMD 102 subsequent to imparting the force in the proximal direction P. Plunger body 124 may impart the force in the distal direction D on linking body 134 to cause head portion 136, 302 to impart the force in the distal direction D on IMD 102. Plunger body 124 may impart the force in the proximal direction P on linking body 134 to cause head portion 136, 302 to impart the force in the proximal direction P on IMD 102.

[0207] The technique may include transitioning, using a bending force Fl, F2, a shapeable body 148 of elongate body 106 from a first configuration defining a first curvature Cl and / or second curvature C2 to a second configuration defining a third curvature C3 different from first curvature Cl and / or a fourth curvature C4 different from second curvature C2. In examples, transitioning shapeable body 148 includes defining third curvature C3 in a first plane of curvature and defining fourth curvature C4 in a second plane of curvature different from the first plane of curvature. In examples, device receptacle 108 substantially maintains a shape of receptacle volume 112 when shapeable body 148 transitions from the first configuration to the second configuration.

[0208] The technique may include retaining, using shapeable body 148, shapeable body 148 in the second configuration when bending force Fl, F2 ceases to act on shapeable body 148. The technique may include inserting, using elongate body 106, at least receptacle deice 108 and shapeable body 148 within the patient when shapeable body 148 defines third curvature C3 and / or fourth curvature C4. In examples, the technique includes displacing, using elongate body 106, at least device receptacle 108 and shapeable body 148 over a path from a right atrium of a heart 101, through a tricuspid annulus of heart 101, and into a right ventricle of heart 101 when shapeable body 148 defines third curvature C3 and / or fourth curvature C4. In examples, the technique includes transferring, using plunger body 124, force F to a linking body 134 and / or transferring, using plunger body 124, force F to head portion 136, 302 when shapeable body 148 defines third curvature C3 and / or fourth curvature C4.

[0209] The disclosure includes the following examples.

[0210] Example 1: a delivery system for a medical device comprising: a delivery device comprising: a support portion; a plunger including a plunger body supported by the support portion, wherein the plunger body is configured to displace relative to the support portion when a force is imparted to the plunger body; an elongate body coupled to the support portion; a device receptacle coupled to the elongate body, wherein the device receptacle defines a receptacle volume configured to hold the medical device and a receptacle opening configured to allow the medical device to pass therethrough; and a linking system coupled to the plunger body; wherein the plunger body is configured to transfer the force to the linking system, wherein the linking system is configured to transfer the force from the plunger body to the medical device when the linking system engages the medical device, and wherein the device receptacle and the elongate body are configured to insert within one or more anatomical volumes of a patient.

[0211] Example 2: The delivery system of example 1, wherein the support portion includes a support body defining a support portion lumen, wherein the plunger body is configured to extend at least partially within the support portion lumen, and wherein the plunger body is configured todisplace relative to the support body and within the support portion lumen when the plunger body transfers the force to the linking system.

[0212] Example 3: The delivery system of example 1 or example 2, wherein the support portion defines a first end and a second end distal to the first end, wherein the elongate body is coupled to the second end, and wherein the linking system is configured to at least one of: move within the device receptacle in a direction toward the receptacle opening when the plunger body transfers the force to the linking system in a direction from the first end toward the second end; or move within the device receptacle in a direction away from the receptacle opening when the plunger body transfers the force to the linking system in a direction from the second end toward the first end.

[0213] Example 4: The delivery system of any of examples 1-3, wherein the plunger body is configured to transfer the force to the linking system at least in a distal direction, and further comprising an elastic member configured to exert a force on the plunger body in a proximal direction when the plunger body transfers the force in the distal direction.

[0214] Example 5: The delivery system of example 4, wherein the elastic member is coupled to the support portion.

[0215] Example 6: The delivery system of example 4 or example 5, wherein the support portion includes a support body defining a support body lumen, and wherein the elastic member is positioned within the support body lumen.

[0216] Example 7: The delivery system of any of examples 1-6, wherein: the plunger body is configured to transfer the force in a first direction, and the support portion defines an engagement member configured to transfer a second force in a second direction opposite the first direction to a body of the support portion when the plunger body transfers the force in the first direction.

[0217] Example 8: The delivery system of any of examples 1-7, wherein the linking system includes a linking body coupled to the plunger body and a head portion coupled to the linking body, wherein the head portion is configured to engage the medical device when the medical device is positioned within the receptacle volume, and wherein the plunger body is configured to transfer the force to the linking body, the linking body is configured to transfer the force from the plunger body to the head portion, and the head portion is configured to transfer the force to the medical device.

[0218] Example 9: The delivery system of example 8, wherein the elongate body defines an elongate body lumen, and wherein the linking body extends at least partially within the elongate body lumen.

[0219] Example 10: The delivery system of example 9, wherein the elongate body lumen opens into the receptacle volume.

[0220] Example 11 : The delivery system of example 9 or example 10, wherein the linking body is configured to move laterally within the elongate body lumen and with respect to the elongate body when the linking body transfers the force from the plunger body to the head portion.

[0221] Example 12: The delivery system of any of examples 8-11, wherein the head portion is configured to move within the receptacle volume and with respect to the device receptacle when the linking body transfers the force from the plunger body to the head portion.

[0222] Example 13: The delivery system of any of examples 8-12: wherein the head portion is configured to position within the receptacle volume, and wherein the linking body is configured to cause the position of the head portion within the receptacle volume to correspond with a position of the plunger body relative to the support portion.

[0223] Example 14: The delivery system of example 13, wherein the delivery device includes one or more marks configured to indicate the position of the plunger body relative to the support portion.

[0224] Example 15: The delivery system of any of example 8-14, wherein the head portion is configured to engage the medical device in an engagement configuration and disengage from the medical device in a disengagement configuration, and wherein the device receptacle is configured to cause the head portion to remain in the engagement configuration when the head portion engages the medical device within the receptacle volume.

[0225] Example 16: The delivery system of example 15, wherein the head portion is resiliently biased to radially expand outward when the head portion transitions from the engagement configuration to the disengagement configuration.

[0226] Example 17: The delivery system of example 15 or example 16, wherein the head portion is configured to transition from the engagement configuration to the disengagement configuration when the head portion is distal to the receptacle opening.

[0227] Example 18: The delivery system of any of examples 8-17, wherein the head portion includes a hub coupled to the linking body and one or more arms extending from the hub, wherein the one or more arms are configured to engage the medical device when the medical device is positioned within the receptacle volume.

[0228] Example 19: The delivery system of example 18, wherein the one or more arms are resiliently biased to radially displace outward in a direction away from the hub.

[0229] Example 20: The delivery system of any of examples 1-19, wherein the support portion includes a body defining a support body wall support portion lumen and the plunger body includes an bracing member, wherein the bracing member is configured to engage the support body wall at least when the plunger body displaces relative to the support portion support portionlumen.

[0230] Example 21 : The delivery system of any of examples 1-20, wherein the support body wall defines a lumen, and wherein the bracing member is configured to engage the support body wall when the plunger body extends within the lumen and the plunger body displaces relative to the support portion.

[0231] Example 22: The delivery system of example 20 or example 21, wherein the plunger body is configured to transfer the force in a primary direction, and wherein the bracing member is configured to exert a secondary force in a secondary direction opposite the primary direction on the plunger body when the plunger body transfers the force in the primary direction.

[0232] Example 23 : The delivery system of any of examples 20-22, wherein the bracing member is configured to support the plunger body in a radial direction of the plunger body when the bracing member engages the support body wall.

[0233] Example 24: The delivery system of any of examples 1-23, wherein the elongate body is a shapeable body defining the elongate body lumen, wherein the shapeable body is configured to transition from a first configuration defining a first curvature to a second configuration defining a second curvature different from the first curvature when a bending force acts on the shapeable body, and wherein the shapeable body is configured to retain the second configuration when the bending force ceases to act on the shapeable body.

[0234] Example 25: The medical system of example 24, wherein a distal portion of the shapeable body is configured to define the first configuration and define the second configuration, wherein a proximal portion of the shapeable body is configured to transition from a third configuration defining a third curvature to a fourth configuration defining a fourth curvature different from the third curvature when the distal portion defines one of the first configuration or the second configuration and a second bending force acts on the shapeable body, and wherein the shapeable body is configured to retain the fourth configuration when the second bending force ceases to act on the shapeable body.

[0235] Example 26: The medical system of example 25, wherein the shapeable portion is configured to retain the second curvature in a first plane of curvature as the shapeable portion retains the fourth curvature in a second plane of curvature different from the first plane of curvature.

[0236] Example 27: The medical system of any of examples 24-26, wherein the shapeable body is configured to transition from the first configuration to the second configuration when the first bending force is less than 10 pound-force.

[0237] Example 28: The medical system of any of examples 1-27, wherein the elongate body includes a bended section resiliently biased to define a bended section curvature.

[0238] Example 29: The medical system of any of examples 1-28, wherein the elongate body includes a surface configured to retain a mark of biocompatible ink from a medical marking device.

[0239] Example 30: The medical system of any of examples 1-29, wherein the elongate body includes one or more markings on an outer surface defined by the elongate body, and wherein each marking defines a distance along the outer surface from the each marking to a reference point on the device receptacle.

[0240] Example 31 : The medical system of any of examples 1-30, wherein the outer surface includes a first zone exhibiting a first visual aspect and a second zone exhibiting a second visual aspect different from the first visual aspect, wherein the first zone defines a first distance along the outer surface and the second zone defines a second distance along the outer surface.

[0241] Example 32: The medical system of any of examples 1-31, wherein the elongate body is configured to displace the device receptacle over a path from a right atrium of a representative heart, through a tricuspid valve of the representative heart, and into a right ventricle of the representative heart.

[0242] Example 33: The medical system of any of examples 1-32, wherein the medical device comprises a leadless pacemaker.

[0243] Example 34: A delivery system for a medical device comprising: a support portion including a support portion body defining a support portion lumen; a shapeable body coupled to the support portion and defining a elongate body lumen which opens into the support portion lumen, wherein the shapeable body is configured to transition from a first configuration defining a first curvature to a second configuration defining a second curvature different from the first curvature when a bending force acts on the shapeable body, and wherein the shapeable body is configured to retain the second configuration when the bending force ceases to act on the shapeable body; a device receptacle coupled to the shapeable body, wherein the device receptacle defines a receptacle volume configured to hold the medical device and a receptacle opening configured to allow the medical device to pass therethrough, and wherein the elongate body lumen opens into the receptacle volume; a plunger including plunger flange coupled to a plunger body, the plunger body extending at least partially into the support portion lumen; a linking body coupled to the plunger body, the linking body extending at least partially within the elongate body lumen; and a head portion coupled to the linking body and configured to engage the medical device when the medical device is positioned within the receptacle volume, wherein the plunger body is configured to displace within the support portion lumen to transfer a force from the plunger flange to the linking body, wherein the linking body is configured to move laterally within the elongate body lumen to transfer the force from the plunger body to the head portion,wherein the head portion is configured to move within the receptacle volume to transfer the force to the medical device, and wherein the device receptacle and the shapeable body are configured to insert within one or more anatomical volumes of a patient.

[0244] Example 35: The delivery system of example 34, wherein the plunger body is configured to displace relative to the support portion body within the support portion lumen, the linking body is configured to move laterally relative to the elongate body within the elongate body lumen, and the head portion is configured to move relative to the device receptacle within the receptacle volume when the shapeable body defines the first configuration and when the shapeable body defines the second configuration.

[0245] Example 36: The delivery system of example 34 or example 35, wherein the support portion lumen extends from a first end of the support portion to a second end of the support portion distal to the first end, and wherein the head portion is configured to at least one of: move within the device receptacle in a direction toward the receptacle opening when the plunger body transfers the force from the plunger flange to the linking body in a distal direction from the first end toward the second end; or move within the device receptacle in a direction away from the receptacle opening when the plunger body transfers the force from the plunger flange to the linking body in a proximal direction from the second end toward the first end.

[0246] Example 37: The medical system of any of examples 34-36, wherein the medical device comprises a leadless pacemaker.

[0247] Example 38: A method, comprising: transferring a force, using a plunger body supported by a support portion, to a linking body coupled to the plunger body, the linking body extending at least partially within a elongate body lumen defined by an elongate body coupled to the support portion; and transferring the force, using the linking body, to a head portion within a receptacle volume defined by a device receptacle coupled to the elongate body, wherein the elongate body lumen opens into the receptacle volume, wherein the receptacle volume is configured to hold a medical device and defines a receptacle opening configured to allow the medical device to pass therethrough, wherein the head portion is configured to engage the medical device within the receptacle volume to transfer the force to the medical device, and wherein the device receptacle and the elongate body are configured to insert within one or more anatomical volumes of a patient.

[0248] Example 39: The method of example 38, further comprising: displacing, using the force, the plunger body relative to the support portion; moving laterally, by transferring the force using the plunger body, the linking body within the elongate body lumen and relative to the elongate body; and moving, by transferring the force using the linking body, the head portion within the receptacle volume and relative to the device receptacle.

[0249] Example 40: The method of example 38 or example 39, further comprising: transitioning, using a bending force acting on the elongate body, the elongate body from a first configuration defining a first curvature to a second configuration defining a second curvature different from the first curvature; retaining, using the elongate body, the second configuration when the bending force ceases to act on the elongate body; and transferring the force, using the linking body, to the head portion as the elongate body retains the second configuration.

[0250] Example 41 : The medical system of example 40, further comprising: defining, using a proximal portion of the elongate body, the second configuration; transitioning, using a second bending force acting on the elongate body, a distal portion of the elongate body from a third configuration defining a third curvature to a fourth configuration defining a fourth curvature different from the third curvature; and retaining, using the elongate body, the fourth configuration when the second bending force ceases to act on the elongate body.

[0251] Example 42: The method of any of examples 38-41, further comprising: transferring, using the plunger body, the force in one of: a distal direction from a first end of the support portion toward a second end of the support portion coupled to the elongate body, or a proximal direction from the second end toward the first end.

[0252] Example 43: The method of example 42, further comprising at least one of: moving, using the linking body, the head portion in a direction toward the receptacle opening when the plunger body transfers the force in the distal direction; or moving, using the linking body, the head portion in a direction away from the receptacle opening when the plunger body transfers the force in the proximal direction.

[0253] Example 44: The method of example 42 or example 43, further comprising exerting a force on the plunger body in the proximal direction, using an elastic member, when the plunger body transfers the force in the distal direction.

[0254] Example 45: The method of any of examples 38-44, further comprising: transferring, using the plunger body, the force in a first direction; and transferring, using an engagement member of the plunger body, a second force in a second direction opposite the first direction to a body of the support portion as the plunger body transfers the force in the first direction.

[0255] Example 46: The method of any of examples 38-45, further comprising: defining, by either the support portion or the plunger body, a mark configured to indicate a position of the plunger body relative to the support portion; and assessing, using the mark, a position of the head portion within the receptacle volume when the position of the plunger body corresponds with the mark.

[0256] Example 47: The method of any of examples 38-46, further comprising retaining, using a receptacle wall of the device receptacle, the head portion in an engagement configurationwhen the head portion is positioned within the receptacle volume, wherein the head portion is configured to engage the medical device in the engagement configuration.

[0257] Example 48: The method of any of examples 38-47, further comprising causing, using a resilient biasing of the head portion, the head portion to radially expand outward to disengage from the medical device.

[0258] Example 49: The method of example 48, further comprising limiting, using a receptacle wall of the device receptacle, the outward radial expansion of the head portion when the head portion is within the receptacle volume.

[0259] Example 50: The method of any of examples 38-49, further comprising displacing, using the elongate body, the device receptacle over a path from a right atrium of a heart, through a tricuspid annulus of the heart, and into a right ventricle of the heart.

[0260] Example 51 : The medical system of any of examples 38-50, wherein the medical device comprises a leadless pacemaker.

[0261] Example 52: A delivery system for a medical device comprising: a linking body; and a head portion attached to the linking body, wherein the head portion is configured to establish an engagement configuration when the head portion is positioned within a receptacle volume of a device receptacle configured to hold an implantable medical device, and wherein the head portion is configured to establish a disengagement configuration when the head portion exits the receptacle volume, the head portion comprising: a hub defining a hub longitudinal axis, wherein the hub is configured to slidably translate substantially parallel to the longitudinal axis in a distal direction and in a proximal direction opposite the distal direction, and an arm extending from the hub, the arm including a support member connected to the hub and the support member supporting an end portion, wherein the hub and the end portion define a gap configured to receive a retrieval structure of the implantable medical device when the head portion is in the engagement configuration, wherein the end portion is configured to transfer a force in the proximal direction from the end portion, through the retrieval structure, and to the hub when the gap receives the retrieval structure and the linking body exerts the force in the proximal direction on the head portion, and wherein the support member is resiliently biased to radially expand outward in a direction away from the hub when the head portion transitions from the engagement configuration to the disengagement configuration.

[0262] Example 53: The delivery system of example 52, wherein the support member extends from a proximal section to a distal section, wherein the proximal section is connected to the hub and the distal section supports the end portion.

[0263] Example 54: The delivery system of example 51 or example 52, wherein the hub defines a first bearing surface configured to contact the retrieval structure when the gap receivesthe retrieval structure, wherein the end portion defines a second bearing surface configured to contact the retrieval structure when the gap receives the retrieval structure, and wherein the first bearing surface faces toward the second bearing surface.

[0264] Example 55: The delivery system of example 54, wherein the hub defines a linear axis parallel to the longitudinal axis, wherein the linear axis passes through the first bearing surface and the second bearing surface when the head portion is in the engagement configuration.

[0265] Example 56: The delivery system of any of examples 52-55, wherein the hub defines a torque member configured to impart a torque to the retrieval structure when the linking body imparts the torque to the hub.

[0266] Example 57: The delivery system of example 56, wherein the torque member is configured to receive at least some portion of the force in the proximal direction when the gap receives the retrieval structure and the linking body exerts the force in the proximal direction on the head portion.

[0267] Example 58: The delivery system of example 56 or example 57, wherein the torque member defines a protrusion extending toward the end portion at least when the head portion is in the engagement configuration, the protrusion configured to insert into a recess of the retrieval structure when the gap receives the retrieval structure.

[0268] Example 59: The delivery system of example 58, wherein the protrusion defines a channel extending through the protrusion, wherein a boundary of the channel is configured to impart the torque to the retrieval structure.

[0269] Example 60: The delivery system of any of examples 52-59, wherein the hub defines one or more fixed walls extending toward the end portion, wherein each fixed wall defines a wall surface facing the hub longitudinal axis, and wherein the wall surface is configured to contact the retrieval structure when the gap receives the retrieval structure.

[0270] Example 61 : The delivery system of example 60, wherein the wall surface faces the torque member.

[0271] Example 62: The delivery system of example 60 or 61, wherein the hub defines a plurality of fixed walls arranged around the hub longitudinal axis.

[0272] Example 62: The delivery system of any of examples 52-61, wherein the support member is configured to define a curvature in a plane substantially perpendicular the hub longitudinal axis.

[0273] Example 63 : The delivery system of any of examples 52-62, wherein the head portion comprises a plurality of arms, wherein: each individual arm extends from the hub and includes an individual support member connected to the hub and supporting an individual end portion, each individual end portion is configured to defines an individual gap between the individual endportion and the hub when the head portion is in the engagement configuration, the individual gap configured to receive a portion of the retrieval structure, each individual end portion is configured to transfer a portion of the force in the proximal direction from the individual end portion, through the portion of the retrieval structure, and to the hub when the individual gap receives the portion of the retrieval structure and the linking body exerts the force in the proximal direction on the head portion, and each individual support member is resiliently biased to radially expand outward in the direction away from the hub when the head portion transitions from the engagement configuration to the disengagement configuration.

[0274] Example 64: The delivery system of example 63, wherein the hub defines a plurality of fixed walls arranged around the hub longitudinal axis, and wherein each individual end portion is configured to position within a spacing between a first wall of the plurality of fixed walls and a second wall of the plurality of fixed walls when the head portion is in the engagement configuration.

[0275] Example 65: The delivery system of any of examples 52-64, further comprising the device receptacle, wherein the device receptacle defines a receptacle inner surface defining at least a portion of a boundary of the receptacle volume, wherein the receptacle inner surface is configured to hold the head portion in the engagement configuration the head portion is positioned within the receptacle volume.

[0276] Example 66: The delivery system of example 65, wherein the device receptacle defines a receptacle opening at a distal end of the device receptacle, and wherein the head portion is configured to establish the disengagement configuration when the head portion exits the receptacle volume through the receptacle opening.

[0277] Example 67: The delivery system of any of examples 52-67, wherein the head portion is configured to transition from the disengagement configuration to the engagement configuration when the head portion enters the receptacle volume through the receptacle opening of the receptacle device.

[0278] Example 68: The delivery system of any of examples 52-68, wherein the linking body and the hub define a lumen extending through the linking body and the hub, the hub defining a lumen opening which opens into the lumen, and further comprising a snare configured to slidably translate within the lumen, the snare configured to engage the implantable medical device.

[0279] Example 69: The delivery system of example 68, wherein the torque member is configured to insert within the recess of the retrieval structure when the snare extends through the lumen and the snare imparts a force in the proximal direction on the implantable medical device.

[0280] Example 70: The delivery system of any of examples 52-69, wherein the link body comprises a helical coil configured to impart the torque to the hub.

[0281] Example 71 : The delivery system of example 70, wherein the helical coil defines at least a portion of the lumen.

[0282] Various examples of the disclosure have been described. Any combination of the described systems, operations, or functions is contemplated. These and other examples are within the scope of the following claims.

Claims

WHAT IS CLAIMED IS:

1. A delivery system for a medical device comprising: a delivery device comprising: a support portion ; a plunger including a plunger body supported by the support portion, wherein the plunger body is configured to displace relative to the support portion when a force is imparted to the plunger body; an elongate body coupled to the support portion; a device receptacle coupled to the elongate body, wherein the device receptacle defines a receptacle volume configured to hold the medical device and a receptacle opening configured to allow the medical device to pass therethrough; and a linking system coupled to the plunger body; wherein the plunger body is configured to transfer the force to the linking system, wherein the linking system is configured to transfer the force from the plunger body to the medical device when the linking system engages the medical device, and wherein the device receptacle and the elongate body are configured to insert within one or more anatomical volumes of a patient.

2. The delivery system of claim 1, wherein the support portion includes a support body defining a support portion lumen, wherein the plunger body is configured to extend at least partially within the support portion lumen, and wherein the plunger body is configured to displace relative to the support body and within the support portion lumen when the plunger body transfers the force to the linking system.

3. The delivery system of claim 1 or claim 2, wherein the support portion defines a first end and a second end distal to the first end, wherein the elongate body is coupled to the second end, and wherein the linking system is configured to at least one of: move within the device receptacle in a direction toward the receptacle opening when the plunger body transfers the force to the linking system in a direction from the first end toward the second end; or move within the device receptacle in a direction away from the receptacle opening when the plunger body transfers the force to the linking system in a direction from the second end toward the first end.

4. The delivery system of any of claims 1-3, wherein the plunger body is configured to transfer the force to the linking system at least in a distal direction, and further comprising an elastic member configured to exert a force on the plunger body in a proximal direction when the plunger body transfers the force in the distal direction.

5. The delivery system of any of claims 1-4, wherein: the plunger body is configured to transfer the force in a first direction, and the support portion defines an engagement member configured to transfer a second force in a second direction opposite the first direction to a body of the support portion when the plunger body transfers the force in the first direction.

6. The delivery system of any of claims 1-5, wherein the linking system includes a linking body coupled to the plunger body and a head portion coupled to the linking body, wherein the head portion is configured to engage the medical device when the medical device is positioned within the receptacle volume, and wherein the plunger body is configured to transfer the force to the linking body, the linking body is configured to transfer the force from the plunger body to the head portion, and the head portion is configured to transfer the force to the medical device.

7. The delivery system of claim 6, wherein the elongate body defines an elongate body lumen, and wherein the linking body extends at least partially within the elongate body lumen.

8. The delivery system of claim 6 or claim 7, wherein the head portion is configured to move within the receptacle volume and with respect to the device receptacle when the linking body transfers the force from the plunger body to the head portion.

9. The delivery system of any of claims 6-8: wherein the head portion is configured to position within the receptacle volume, and wherein the linking body is configured to cause the position of the head portion within the receptacle volume to correspond with a position of the plunger body relative to the support portion.

10. The delivery system of claim 9, wherein the delivery device includes one or more marks configured to indicate the position of the plunger body relative to the support portion.

11. The delivery system of any of claims 6-10, wherein the head portion is configured to engage the medical device in an engagement configuration and disengage from the medical device in a disengagement configuration, and wherein the device receptacle is configured to cause the head portion to remain in the engagement configuration when the head portion engages the medical device within the receptacle volume.

12. The delivery system of claim 11, wherein the head portion is resiliently biased to radially expand outward when the head portion transitions from the engagement configuration to the disengagement configuration.

13. The delivery system of any of claims 1-12, wherein the support portion includes a body defining a support body wall and the plunger body includes a bracing member, wherein the bracing member is configured to engage the support body wall at least when the plunger body displaces relative to the support portion.

14. The delivery system of claim 13, wherein the bracing member is configured to support the plunger body in a radial direction of the plunger body when the bracing member engages the support body wall.

15. The delivery system of any of claims 1-14, wherein the elongate body is a shapeable body defining the elongate body lumen, wherein the shapeable body is configured to transition from a first configuration defining a first curvature to a second configuration defining a second curvature different from the first curvature when a bending force acts on the shapeable body, and wherein the shapeable body is configured to retain the second configuration when the bending force ceases to act on the shapeable body.

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