Planar Inverted-F Antennas (PIFAs) have emerged as a prominent choice for integration into wireless medical devices due to their compact size, low-profile, and efficient radiation characteristics. This chapter explores the role of PIFAs in medical applications, highlighting their key advantages such as ease of integration into wearable and implantable systems, low SAR (Specific Absorption Rate) performance, and compatibility with human body proximity. Despite these strengths, PIFAs present limitations including narrow bandwidth and detuning effects caused by tissue loading and device encapsulation. We discuss critical design considerations tailored to medical use-cases, such as miniaturization, biocompatibility, and electromagnetic compatibility. Various tuning techniques—ranging from passive impedance matching to adaptive reconfigurable methods—are evaluated to address performance degradation in dynamic body environments. A comprehensive problem formulation is presented, followed by a review of related work focusing on recent advancements in PIFA design for biomedical telemetry. Simulation results demonstrate the effectiveness of proposed tuning strategies and validate antenna performance under realistic body-centric conditions. Finally, the chapter outlines open research challenges, including the need for robust multiband designs, long-term in-body performance stability, and the need for efficient co-design with wireless transceivers. These insights aim to guide future developments in wireless medical antenna technologies.