<SEC-DOCUMENT>0001209191-21-039047.txt : 20210608
<SEC-HEADER>0001209191-21-039047.hdr.sgml : 20210608
<ACCEPTANCE-DATETIME>20210608200027
ACCESSION NUMBER:		0001209191-21-039047
CONFORMED SUBMISSION TYPE:	4
PUBLIC DOCUMENT COUNT:		1
CONFORMED PERIOD OF REPORT:	20210604
FILED AS OF DATE:		20210608
DATE AS OF CHANGE:		20210608

REPORTING-OWNER:	

	OWNER DATA:	
		COMPANY CONFORMED NAME:			COLOMBATTO MARTIN J
		CENTRAL INDEX KEY:			0001208236

	FILING VALUES:
		FORM TYPE:		4
		SEC ACT:		1934 Act
		SEC FILE NUMBER:	001-38677
		FILM NUMBER:		211003645

ISSUER:		

	COMPANY DATA:	
		COMPANY CONFORMED NAME:			Ra Medical Systems, Inc.
		CENTRAL INDEX KEY:			0001716621
		STANDARD INDUSTRIAL CLASSIFICATION:	SURGICAL & MEDICAL INSTRUMENTS & APPARATUS [3841]
		IRS NUMBER:				383661826
		FISCAL YEAR END:			1231

	BUSINESS ADDRESS:	
		STREET 1:		2070 LAS PALMAS DRIVE
		CITY:			CARLSBAD
		STATE:			CA
		ZIP:			92011
		BUSINESS PHONE:		(760) 804-1648

	MAIL ADDRESS:	
		STREET 1:		2070 LAS PALMAS DRIVE
		CITY:			CARLSBAD
		STATE:			CA
		ZIP:			92011
</SEC-HEADER>
<DOCUMENT>
<TYPE>4
<SEQUENCE>1
<FILENAME>doc4.xml
<DESCRIPTION>FORM 4 SUBMISSION
<TEXT>
<XML>
<?xml version="1.0"?>
<ownershipDocument>

    <schemaVersion>X0306</schemaVersion>

    <documentType>4</documentType>

    <periodOfReport>2021-06-04</periodOfReport>

    <notSubjectToSection16>0</notSubjectToSection16>

    <issuer>
        <issuerCik>0001716621</issuerCik>
        <issuerName>Ra Medical Systems, Inc.</issuerName>
        <issuerTradingSymbol>RMED</issuerTradingSymbol>
    </issuer>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001208236</rptOwnerCik>
            <rptOwnerName>COLOMBATTO MARTIN J</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>C/O RA MEDICAL SYSTEMS, INC.</rptOwnerStreet1>
            <rptOwnerStreet2>2070 LAS PALMAS DRIVE</rptOwnerStreet2>
            <rptOwnerCity>CARLSBAD</rptOwnerCity>
            <rptOwnerState>CA</rptOwnerState>
            <rptOwnerZipCode>92011</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>1</isDirector>
            <isOfficer>0</isOfficer>
            <isTenPercentOwner>0</isTenPercentOwner>
            <isOther>0</isOther>
        </reportingOwnerRelationship>
    </reportingOwner>

    <nonDerivativeTable>
        <nonDerivativeTransaction>
            <securityTitle>
                <value>Common Stock</value>
            </securityTitle>
            <transactionDate>
                <value>2021-06-04</value>
            </transactionDate>
            <deemedExecutionDate></deemedExecutionDate>
            <transactionCoding>
                <transactionFormType>4</transactionFormType>
                <transactionCode>A</transactionCode>
                <equitySwapInvolved>0</equitySwapInvolved>
            </transactionCoding>
            <transactionTimeliness>
                <value></value>
            </transactionTimeliness>
            <transactionAmounts>
                <transactionShares>
                    <value>4000</value>
                    <footnoteId id="F1"/>
                </transactionShares>
                <transactionPricePerShare>
                    <value>0.00</value>
                </transactionPricePerShare>
                <transactionAcquiredDisposedCode>
                    <value>A</value>
                </transactionAcquiredDisposedCode>
            </transactionAmounts>
            <postTransactionAmounts>
                <sharesOwnedFollowingTransaction>
                    <value>29439</value>
                </sharesOwnedFollowingTransaction>
            </postTransactionAmounts>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>D</value>
                </directOrIndirectOwnership>
            </ownershipNature>
        </nonDerivativeTransaction>
        <nonDerivativeHolding>
            <securityTitle>
                <value>Common Stock</value>
            </securityTitle>
            <postTransactionAmounts>
                <sharesOwnedFollowingTransaction>
                    <value>1500</value>
                </sharesOwnedFollowingTransaction>
            </postTransactionAmounts>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>I</value>
                </directOrIndirectOwnership>
                <natureOfOwnership>
                    <value>See Footnote</value>
                    <footnoteId id="F2"/>
                </natureOfOwnership>
            </ownershipNature>
        </nonDerivativeHolding>
    </nonDerivativeTable>

    <footnotes>
        <footnote id="F1">Reported shares represents a grant of restricted stock awards (the &quot;RSAs&quot;) pursuant to Ra Medical Systems, Inc.'s 2018 Equity Incentive Plan. Each restricted stock award represents a contingent right to receive one share of Ra Medical Systems, Inc. common stock. The RSAs will vest on the earlier of (i) June 4, 2022, or (ii) the day prior to the date of the Stockholder's Annual Meeting  next following June 4, 2021, subject to the reporting person's continued service.</footnote>
        <footnote id="F2">Shares held of record by the M Colombatto Trust, for which the reporting person serves as trustee.</footnote>
    </footnotes>

    <remarks></remarks>

    <ownerSignature>
        <signatureName>/s/ Daniel Horwood, as Attorney-in-Fact</signatureName>
        <signatureDate>2021-06-08</signatureDate>
    </ownerSignature>
</ownershipDocument>
</XML>
</TEXT>
</DOCUMENT>
</SEC-DOCUMENT>
