A medical grasping device for use in an interventional procedure in a body lumen of a patient, comprising: an elongate member; a first resilient prong extending from a distal end (114, 214, 314, 514) of the elongate member (110, 210, 310, 410, 510), the first resilient prong (120, 220, 320, 420, 520) comprising an engagement feature; and a second resilient prong (130, 230, 330, 430, 530) extending from the distal end (114, 214, 314, 514) of the elongate member (110, 210, 310, 410, 510), the second resilient prong (130, 230, 330, 430, 530) comprising an engagement feature, wherein the medical grasping device is configured to be disposed within a lumen of a delivery sheath, and wherein the at least one resilient prong (120, 220, 320, 420, 520, 130, 230, 330, 430, 530) comprises a distal convex (128, 138) portion, and a concave proximal portion (126, 136), and wherein the convex distal portion (128, 138) is convex with respect to an extension of a longitudinal axis (10, 12) of the elongate member (110, 210, 310, 410, 510), and the concave proximal portion (126, 136) is concave with respect to the extension of the longitudinal axis (10, 12) of the elongate member (110, 210, 310, 410, 510), and wherein the engagement feature (140a, 240a, 340a, 440a, 540a) of the first resilient prong is disposed at a distal end (124, 224, 424, 524) of said first resilient prong (120, 220, 320, 420, 520), and the engagement feature (140b, 240b, 340b, 440b, 540b) of the second resilient prong is disposed at a distal end (134, 234, 434, 534) of said second resilient prong (130, 230, 330, 430, 530), wherein the engagement feature (140a, 240a, 340a, 440a, 540a) of the first resilient prong (120, 220, 320, 420, 520) comprises at least one curved portion (142a, 242a, 542a), and the at least one curved portion (142a, 242a, 542a) is disposed at a distal end (124, 224, 424, 524) of the first resilient prong (140a, 240a, 340a, 440a, 540a), and wherein the engagement feature (140b, 240b, 340b, 440b, 540b) of the second resilient prong (130, 230, 330, 430, 530) comprises at least one curved portion (142b, 242b, 542b), and the at least one curved portion (142b, 242b, 542b) is disposed at a distal end (134, 234, 434, 534) of the second resilient prong (130, 230, 330, 430, 530). an elongate member; a first resilient prong extending from a distal end (114, 214, 314, 514) of the elongate member (110, 210, 310, 410, 510), the first resilient prong (120, 220, 320, 420, 520) comprising an engagement feature; and a second resilient prong (130, 230, 330, 430, 530) extending from the distal end (114, 214, 314, 514) of the elongate member (110, 210, 310, 410, 510), the second resilient prong (130, 230, 330, 430, 530) comprising an engagement feature, wherein the medical grasping device is configured to be disposed within a lumen of a delivery sheath, and wherein the at least one resilient prong (120, 220, 320, 420, 520, 130, 230, 330, 430, 530) comprises a distal convex (128, 138) portion, and a concave proximal portion (126, 136), and wherein the convex distal portion (128, 138) is convex with respect to an extension of a longitudinal axis (10, 12) of the elongate member (110, 210, 310, 410, 510), and the concave proximal portion (126, 136) is concave with respect to the extension of the longitudinal axis (10, 12) of the elongate member (110, 210, 310, 410, 510), and wherein the engagement feature (140a, 240a, 340a, 440a, 540a) of the first resilient prong is disposed at a distal end (124, 224, 424, 524) of said first resilient prong (120, 220, 320, 420, 520), and the engagement feature (140b, 240b, 340b, 440b, 540b) of the second resilient prong is disposed at a distal end (134, 234, 434, 534) of said second resilient prong (130, 230, 330, 430, 530), wherein the engagement feature (140a, 240a, 340a, 440a, 540a) of the first resilient prong (120, 220, 320, 420, 520) comprises at least one curved portion (142a, 242a, 542a), and the at least one curved portion (142a, 242a, 542a) is disposed at a distal end (124, 224, 424, 524) of the first resilient prong (140a, 240a, 340a, 440a, 540a), and wherein the engagement feature (140b, 240b, 340b, 440b, 540b) of the second resilient prong (130, 230, 330, 430, 530) comprises at least one curved portion (142b, 242b, 542b), and the at least one curved portion (142b, 242b, 542b) is disposed at a distal end (134, 234, 434, 534) of the second resilient prong (130, 230, 330, 430, 530).