Most venture-backed med device companies are C corps. Here’s how founders get money out, and how each one is taxed.

Usually through salary on payroll. Later, through dividends, loan repayments, and eventually selling shares.
Not for their own work in the business. The IRS treats that as employee work and reclassifies it as wages.
Qualified small business stock. When you sell shares in a qualifying C corp, much of the gain may be excluded from tax.