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The prostate is a small exocrine gland in men responsible for production of the liquid component of the seminal fluid. In North America, prostate cancer accounts for over 300,000 new cases and 40,000 deaths each year and it is the second leading cause of cancer death in men. Low-dose Rate (LDR) brachytherapy is gaining interest as a viable treatment option for prostate cancer due to its low side effects and high benefits. The present manual approach for brachytherapy needle insertion and the inherent flexibility of the needles make it extremely difficult to achieve accurate and consistent dosimetry. In this paper, we present a new 5 degrees-of-freedom (DOF) manipulator capable of performing percutaneous needle insertion. The manipulator can perform orientation, insertion and rotation of the needle and linear motion of the plunger to drop radioactive seeds at targeted locations. The manipulator is an integral part of a system utilizing a mechanically rotated side-fire transducer to create 3D ultrasound images of the organ and utilizing 3D SLICER software to visualize those images. Experiments conducted in agar phantoms reveal an average RMS targeting error of 1.45mm at an average insertion depth of 75.78mm proving the feasibility and efficacy of the proposed robotic system for percutaneous needle insertion.