The invention provides:1. A system for retrieving vascular debris in a vasculature comprising:at least three segments (52, 56) expandable from a collapsed state to an expanded state, each of the at least three segments having (a) a waist comprising a radially largest region of the segment and (b) two longitudinal ends;at least two intermediate portions (54a,b), each of the at least two intermediate portions comprising a pivot that connects adjacent segments, each pivot having a diameter less than a diameter of the waist;a sheath (144) configured to encase the at least three segments in the collapsed state; anda tether (140) attached to a proximalmost of the at least three segments and configured to position the at least three segments relative to the sheath;wherein each of the at least three segments comprises at least two struts that extend from a proximal end to a distal end of the segment;and each of the at least two struts extends from a proximal end of the segment and divides into at least two sub-struts at the waist, with each of the two sub-struts connecting to a circumferentially adjacent strut extending from the distal end of the segment.