Several
needle insertion devices are disclosed, including devices that achieve a fixed or variable
insertion angle. The fixed
insertion angle device may include a channel guide with a stop to limit
insertion to a desired depth. The fixed
insertion angle device may also include a
rack and pinion mechanism to maintain the insertion geometry to achieve a desired depth. The variable
insertion angle design may include a channel guide with a stop to limit insertion to a desired depth. The variable
insertion angle device may also implement a depth
cam configured to associate an insertion angle with an
insertion depth. Improvements to these designs are also disclosed.