A device for percutaneous use comprising: a tubular system having at least two hollow tubes, the system comprising: an outer tube having a first proximal end, a first hollow shaft, and a first distal end; and an innermost tube, the innermost tube having a second proximal end, a second hollow shaft, and a second distal end, the innermost tube being housed coaxially within the first hollow shaft of the outer tube, the innermost tube configured to advance within the first hollow shaft of the outer tube, and wherein the second distal end of the innermost tube exits the first distal end of the outer tube; and a controller apparatus operatively coupled to the tubular system, the controller apparatus configured to adjust an angle of deployment of the tubular system in a coronal plane, and further to adjust an angle of deployment of the innermost tube in a sagittal plane independently from the outer tube, the controller apparatus further configured to adjust a length of deployment of at least one of the tubes of the tubular system. characterized in that the innermost tube comprises a plurality of projections at the second distal end, the plurality of projections aligned to engage ligament, tendon, or muscle fiber bundles and configured to guide the second distal end of the innermost tube along the axial direction of the ligament, tendon, or muscle fiber bundles. a tubular system having at least two hollow tubes, the system comprising: an outer tube having a first proximal end, a first hollow shaft, and a first distal end; and an innermost tube, the innermost tube having a second proximal end, a second hollow shaft, and a second distal end, the innermost tube being housed coaxially within the first hollow shaft of the outer tube, the innermost tube configured to advance within the first hollow shaft of the outer tube, and wherein the second distal end of the innermost tube exits the first distal end of the outer tube; and an outer tube having a first proximal end, a first hollow shaft, and a first distal end; and an innermost tube, the innermost tube having a second proximal end, a second hollow shaft, and a second distal end, the innermost tube being housed coaxially within the first hollow shaft of the outer tube, the innermost tube configured to advance within the first hollow shaft of the outer tube, and wherein the second distal end of the innermost tube exits the first distal end of the outer tube; and a controller apparatus operatively coupled to the tubular system, the controller apparatus configured to adjust an angle of deployment of the tubular system in a coronal plane, and further to adjust an angle of deployment of the innermost tube in a sagittal plane independently from the outer tube, the controller apparatus further configured to adjust a length of deployment of at least one of the tubes of the tubular system. characterized in that the innermost tube comprises a plurality of projections at the second distal end, the plurality of projections aligned to engage ligament, tendon, or muscle fiber bundles and configured to guide the second distal end of the innermost tube along the axial direction of the ligament, tendon, or muscle fiber bundles.