Medicinal fluid delivery devices and methods for advancing and retracting needles are disclosed. According to an aspect, a medicinal fluid delivery device includes a tube that defines an interior space that extends between a first and second openings. The device includes a needle including a proximal end and a distal end that substantially align in a first direction. A portion of the distal end is biased to extend in a second direction different than the first direction. A mechanism is attached to the proximal end and configured to position the distal end between a first position and a second position. In the first position, the portion of the distal end is constrained by the interior wall such that is does not extend in the second direction. In the second position, the distal end is not constrained by the interior wall such that it extends in the second direction.