A medical device known as an implantable therapeutic substance delivery device is configured for implanting in humans to deliver a therapeutic substance such as pharmaceutical compositions, genetic materials, and biologics to treat a variety of medical conditions such as pain, spastisity, cancer, and many other conditions. The therapeutic substance delivery device has a permanent magnet solenoid pump that is energy efficient, accurate, small, compatible with therapeutic substances, and has many other improvements. The implantable therapeutic substance delivery device has a housing, a therapeutic substance reservoir, a power source, electronics, and a permanent magnet solenoid pump. The therapeutic substance reservoir is configured to contain a therapeutic substance and is coupled to the housing. The power source is carried in the housing to power the electronics and solenoid pump. The electronics are coupled to the solenoid pump and the solenoid pump is coupled to the therapeutic substance reservoir. The permanent magnet solenoid pump is configured for pumping therapeutic substance from the therapeutic substance reservoir through an infusion outlet at a programmed infusion rate. Many embodiments of the permanent magnet solenoid pump and its methods of operation are possible.