The device (1) for inserting a needle into a site (100) comprises: - a wall (19) for bearing on the site (100), - a base (22) having a guiding recess (23) defining a guiding axis (B) oriented toward the bearing wall (19) and intended to receive a needle support (24), - the needle support (24) on which a needle is mounted, the needle support (24) being mounted so as to be mobile in the guiding recess (23), between: * a pre-insertion position in which the needle is set back from the bearing wall (19), * an insertion position in which the needle protrudes from the bearing wall (19), and * a retracted position in which the needle is once again set back from the bearing wall (19), - a rotary element (6) having an axis of rotation (A) and comprising drive means (64) intended to cooperate with complementary drive means (26) borne by the needle support (24), so as to make the needle support (24) move in translation between the various positions of the needle support (24) when the rotary element (6) is driven in rotation about its axis of rotation (A), the insertion device (1) comprising axial holding means (9) for the rotary element (6) such that the axis of rotation (A) of the rotary element (6) is mounted fixed with respect to the base (22).Le dispositif d'insertion (1) d'une aiguille dans un site (100) comprend : - une paroi d'appui (19) sur le site (100), - un socle (22) présentant un logement de guidage (23) définissant un axe de guidage (B) orienté vers la paroi d'appui (19) et destiné à recevoir un support d'aiguille (24), - le support d'aiguille (24) sur lequel est montée une aiguille, le support d'aiguille (24) étant monté mobile dans le logement de guidage (23) entre : * une position avant insertion dans laquelle l'aiguille est en retrait par rapport à la paroi d'appui (19), * une position d'insertion dans laquelle l'aiguille est proéminente par rapport à la paroi d'appui (19), et * une position rétractée dans laquelle l'aiguille est de nouveau en retrait par rapp
