An engagement subassembly of a catheter, for retrieving an implanted medical device, may include at least three segments or, alternately, capture members being spring biased outward from a longitudinal axis of the subassembly, wherein a device receptacle of the catheter forces the capture members/segments, against the spring bias thereof, toward the axis. Each capture member includes a spring-biased wire and a grip, which is located between proximal and distal portions of the corresponding wire, and which is configured to interlock within a gap between a device attachment feature and housing; a length of each wire distal portion may be approximately equal to that of the device housing. An interlocking edge of each segment interlocks within the gap between the attachment feature and housing, when a distal-facing surface of each segment, which tapers outward from the axis in a distal direction, comes into confronting engagement with the device housing.