The video presents the working of a novel five degrees-of-freedom 
(DOF) manipulator for percutaneous needle insertion. Manipulator 
motion in "free air" and needle insertion experiments in agar phantom 
are presented here to prove the feasibilty and efficacy of the robotic 
system. The video also presentes the Graphical User Interface which 
was dseveloped using 3D SLICER software. 


