A catheter has a catheter body and a distal tip section with needles that are positioned radially to extend outside of the distal tip section to pierce and penetrate tissue layers of a vessel or tubular region. The needles are supported in a retracted position inside the distal tip section on an elongated support member. For deployment, the needles are lifted and a portion thereof pushed through openings in the distal tip section by an actuator that is longitudinally slidable on the elongated support member. The actuator has a tapered end to help lift the needle onto the actuator. In another embodiment, an inflatable balloon member with needles is movable between retracted and deployed positions.