Embodiments of the disclosure are drawn to a medical device delivery system. The system may include a shaft having a proximal end and a distal end. The device may also include a visualization system at a distal region of the shaft. The system may further include at least one latching structure configured to extend beyond the distal end of the shaft and retract within the distal region of the shaft and at least one advancement mechanism configured to extend beyond the distal end of the shaft to pull the shaft in a distal direction.