A tool operable with a catheter in an interventional medical system retrieves a medical device from an implant site, wherein the device includes an attachment feature that forms an annular recess to be engaged by a lasso of the tool for snaring the device, and a distal-most sidewall of the catheter defines a receptacle into which the snared device is retrieved. A guide of the tool includes a sidewall defining a lumen in which the lasso extends for deployment out from a distal opening thereof, to snare and retrieve the implanted device. The sidewall establishes a radial offset between the guide lumen distal opening and the distal-most sidewall of the catheter, when the guide lumen distal opening and a distal opening of the receptacle are located in close proximity to one another, which radial offset is greater than a length of the annular recess formed by the device attachment feature.