Tubules are small tube like structures resembling a hollow cylinder found in various organs or cells in the body.
Vesicles are an air filled sac like structure which contains various substances in it. They are used to transport materials from one organelle to another or from cell to cell. They are formed mainly by golgi apparatus.
Cisternae are membranous flattened like structures that make up the golgi apparatus. Cisternae also forms a flattened structure of rough endoplasmic reticulum.