Devices, systems, and methods for delivering therapy to a sacral nerve

Systems for delivering therapy to a nerve in a patient may comprise a plurality of sensors, such as a cardiac sensor, a disease activity sensor, and a bodily activity sensor, an implantable pulse generator, and an implantable signal delivery device. The implantable signal delivery device may be configured to deliver a stimulation signal to the nerve. The implantable pulse generator may comprise a microcontroller configured to calculate a heart rate parameter from cardiac data received from the cardiac sensor, calculate a disease activity parameter from disease activity data received from the disease activity sensor, calculate a bodily activity parameter from bodily activity data received from a bodily activity sensor, determine an autonomic nervous system state, physiological state, and/or disease state of the patient based on the heart rate parameter, the disease activity parameter, and the bodily activity parameter, and adjust a nerve stimulation parameter of a stimulation signal based on the determined autonomic nervous system state, the physiological state, and/or the disease state.