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.
