Focal laser ablation is a minimally invasive treatment for prostate cancer. This treatment requires the positioning of an optical fibre with the use of a needle, to then thermally and locally destroy cancer cells utilising this optical fibre. Traditional needles experience buckling, which results in less accurate treatment and tissue damage. The ovipositor of the parasitic wasp offers a solution, which already resulted in the development of ovipositor-inspired needles. In this study a friction-based ovipositor-inspired needle actuation system, called FrON, is presented. This is a pass-on system, where each of the six individual needle segments (NiTinol rods with a diameter of 0.25 mm) are sequentially actuated by grasping the needle segment, moving the needle segment, releasing the needle segment, and returning to the starting position to grasp a new part of the needle segment. The design includes a cam mechanism that functions in two directions, to grasp the needle segment and to move the needle segment. The design was primarily 3D-printed, and experimentally evaluated whilst varying the gelatin stiffness utilised to represent the prostate tissue. Experiments through air were performed as well to assess the effect of friction within the design. The followers in the cam mechanism include springs which can be adjusted to adjust the friction on the needle segments, this spring configuration was varied in the evaluation as well. The experiments yielded promising and expected results; higher gelatin stiffness or lower spring stiffness resulted in a decreased needle propulsion efficiency. The stiffer spring configuration resulted in in a higher average needle propulsion efficiency, with an increase in efficiency of 6.3% through air, 2.5% through a 5wt% gelatin sample, and 2.4% through a 10wt% gelatin sample. Doubling the weight percentage in the gelatin samples corresponded to approximately a tripling in stiffness (5.3kPa and 17 kPa). A corresponding effect of this was observed in the results where the average needle propulsion efficiency was approximately tripled when comparing weight percentages in gelatin; 16.3% vs. 5.3% for the less stiff spring configuration, and 18.8% vs. 7.7% for the stiffer spring configuration. However, areas of improvement remain, such as the exclusion of the shrink tube that bundles the needle segments due to breakage during the experiments. Nevertheless, this novel combination of a 2D-Cam mechanism and a pass-on system could be a hopeful development in the treatment of prostate cancer.