The disclosure describes examples of antennas used for communication with an implantable medical device (IMD). As one example, the IMD includes a housing configured to house communication circuitry within an internal side of the housing, and a planar antenna, having a curved structure, that is stacked on an external side of the housing and coupled to the communication circuitry. As another example, the IMD includes a housing configured to house communication circuitry within an internal side of the housing and an antenna having a curved structure formed on an external side of the housing and coupled to the communication circuitry. A resonant frequency of the antenna is based on a dielectric constant of tissue surrounding the antenna when the IMD is implanted, and a current distribution of the antenna is in-phase in opposite sides of the antenna.