Embodiments include systems, methods and devices for the percutaneous delivery of therapeutic agents to tendons, ligaments and muscle. Certain embodiments include a device comprising a needle-catheter based delivery system with adjustable characteristics to allow a clinician to control the angle and depth of needle and/or catheter deployment to a desired location. System embodiments may include a controller unit where a clinician can adjust the axial position depth and location of needles and/or catheters.
