A device for percutaneous delivery of therapeutic agents includes a first wheel having an axis of rotation, a first axial surface rotably mounted on the head, a second axial surface, an outer surface, and a plurality of needles disposed upon the outer surface, each needle having a tip projecting away from the axis of rotation of the wheel. The device includes a second wheel having an axis of rotation, a first axial surface affixed to the second axial surface of the first wheel, a second axial surface, an outer surface, and a plurality of needles disposed upon the outer surface, each needle having a tip projecting away from the axis of rotation.
