A retrieval device, comprising: a sheath; a first drive member in the sheath; a second drive member in the sheath, the second drive member being movable relative to the first drive member; and an end effector retractable into and extendable out of the sheath, the end effector comprising: a first proximal end portion coupled to the first drive member, a second proximal end portion coupled to the second drive member, and a plurality of legs (110, 112, 114, 116) extending distally from the first and second proximal end portions to a distal tip of the end effector, wherein: all of the legs (110, 112, 114, 116) that extend to the distal tip are fixed together at the distal tip, the distal tip is at a distal end of the retrieval device when the end effector is in a first state, a portion of the first drive member is within the sheath when the end effector is in the first state, the end effector is movable from the first state to a second state, and in the second state, the portion of the first drive member is outside of the sheath and distal to the distal tip. a sheath; a first drive member in the sheath; a second drive member in the sheath, the second drive member being movable relative to the first drive member; and an end effector retractable into and extendable out of the sheath, the end effector comprising: a first proximal end portion coupled to the first drive member, a second proximal end portion coupled to the second drive member, and a plurality of legs (110, 112, 114, 116) extending distally from the first and second proximal end portions to a distal tip of the end effector, wherein: all of the legs (110, 112, 114, 116) that extend to the distal tip are fixed together at the distal tip, the distal tip is at a distal end of the retrieval device when the end effector is in a first state, a portion of the first drive member is within the sheath when the end effector is in the first state, the end effector is movable from the first state to a second state, and in the second state, the portion of the first drive member is outside of the sheath and distal to the distal tip. a first proximal end portion coupled to the first drive member, a second proximal end portion coupled to the second drive member, and a plurality of legs (110, 112, 114, 116) extending distally from the first and second proximal end portions to a distal tip of the end effector, wherein: all of the legs (110, 112, 114, 116) that extend to the distal tip are fixed together at the distal tip, the distal tip is at a distal end of the retrieval device when the end effector is in a first state, a portion of the first drive member is within the sheath when the end effector is in the first state, the end effector is movable from the first state to a second state, and in the second state, the portion of the first drive member is outside of the sheath and distal to the distal tip. all of the legs (110, 112, 114, 116) that extend to the distal tip are fixed together at the distal tip, the distal tip is at a distal end of the retrieval device when the end effector is in a first state, a portion of the first drive member is within the sheath when the end effector is in the first state, the end effector is movable from the first state to a second state, and in the second state, the portion of the first drive member is outside of the sheath and distal to the distal tip.