Delivery systems include a delivery instrument and a delivery device removably attached to the delivery instrument. A plurality of actuators are operable to position an opening of the delivery device with respect to the target site. A material supply system supplies the material to the delivery device. A navigation system tracks the target site and the opening as the target site moves during the procedure and as the opening moves during the procedure. A controller controls movement of the opening and/or flow rate of the material to achieve desired delivery of the material at the target site using various methods.
