Injection device with both linear and rotary independent motor drives

A tissue treatment system, comprising:

• an apparatus comprising:
• a rotary motion drive having a motion drive rotary axis and which is configured to receive a needle and operable to rotate the needle about the motion drive rotary axis;
• and
• a linear motion drive comprising a drive screw and configured to translate the needle selectively in either proximal and distal direction along a translation axis, and further configured such that, when the apparatus is operably engaged with the tissue, the drive screw remains translationally stationary relative to the tissue during operation of the rotation motion drive to longitudinally translate the needle;
• and
• wherein the rotary motion drive and the linear motion drive are independently operatable;
• at least one sensor;
• at least one memory for storing data and software code instructions;
• and
• at least one processor configured to process data in accordance with the software code instructions to cause the apparatus to perform the following:
• sensing, by the at least one sensor, at least one physical quantity relating to a characteristic of tissue region and a needle;
• and
• controlling, based on the sensed at least one physical quantity, the operation of the linear motion drive and/or the rotary motion drive for operably engaging the needle with the tissue region and/or a tissue irradiation parameter of a radiation source.