A delivery device includes a control release shaft and a pusher shaft disposed within the control release shaft. A distal end of the control release shaft includes a collar having a sloped distal edge. The control release shaft is rotatable in order to rotate the collar. The pusher shaft has a distal end having a spindle coupled thereto. The spindle is configured to receive at least one connector extending from at least one endmost crown of the self-expanding prosthesis in order to releasably attach the self-expanding prosthesis to the pusher shaft. When disposed over an end of the self-expanding prosthesis, the collar is configured to radially restrain the endmost crowns and the connector of the self-expanding prosthesis. Actuation of an actuator of the delivery device rotates and proximally retracts the collar relative to the spindle to achieve incremental release of the endmost crowns and the connector of the self-expanding prosthesis.