This needle driver is based on PAKY’s axial loading transmission, but the needle is placed closer to the RCM mechanism for better kinematics of the RCM. In addition, a release mechanism is used for manually detaching the needle in the lateral direction. A longer needle guide at the tip provides additional support for the needle and also encloses the sharp tip of the needle for protection. The driver is designed for thin needles, gauge 19 or thinner.