Catheter systems and methods are disclosed for anchoring the catheter system to tissue, e.g., for delivery of biologic or chemical agents, or other therapeutic fluid during various procedures. An exemplary tissue anchoring catheter comprises an outer catheter shaft connected to a catheter handle. A delivery sheath is provided within the outer catheter shaft, the delivery sheath housing a needle. At least one anchor is operatively associated with the delivery sheath, the at least one anchor operable at the catheter handle to secure the delivery sheath to tissue for conveying biologic or chemical agents, or other therapeutic fluid from the needle to the tissue. The tissue anchoring catheter may further comprise sensing means such as piezoelectric, pressure, thermistor, thermocouple, or ultrasound sensors.