A device for sealing a patent foramen ovale (PFO) in the heart is provided. The device includes a left atrial anchor adapted to be placed in a left atrium of the heart, a right atrial anchor adapted to be placed in a right atrium of the heart, and an elongate member adapted to extend through the passageway and connect the left and right atrial anchors. A system for delivering the closure device includes side-by-side tubes. A device for retrieving a mis-deployed closure device includes a shaft portion and an expandable retrieval portion.
