A device for percutaneous delivery of therapeutic agents includes a head, a wheel rotably mounted on the head, the wheel having an axis of rotation and an outer surface, a plurality of needles disposed upon the outer surface, each needle having a tip projecting away from the axis of rotation of the wheel, and a reservoir mounted on the body, the reservoir containing a fluid, the reservoir having an opening near to the wheel such that the fluid is disposed on the wheel through the opening.