The apparatus provides for injecting therapeutic agents at precise locations into the bodily tissue. The apparatus comprises an end effector that is guided to a precise location by motion controllers on a handle. At a precise location, the end effector attaches via a vacuum to the cardiac tissue. A flexible needle is advanced through a deflecting tunnel in the end effector to a desired depth. A therapeutic agent is then introduced via the flexible needle into the cardiac tissue. All these manipulations can be controlled by one hand and can be viewed via imaging methods.
