Abstract: Intramuscular stimulation (IMS) pain relief therapy is facilitated by a hand-held tool which, once positioned against a patient's skin, can be controlled to automatically advance a needle to penetrate the patient's flesh, reciprocate the needle within the patient's flesh a predetermined number of times through a predetermined stroke, and retract the needle. A tubular guide member is provided at its distal end with a skin contact member forming a constricted orifice closely matching the diameter of the needle. The orifice allows substantially free passage of the needle therethrough and at the same time prevents bowing of the needle as it is advanced--a primary source of patient pain. Automation and control of the needle penetration, reciprocation and retraction sequence reduces the amount of manual and mental effort required on the part of the treating physician, thereby allowing physicians to perform IMS procedures more consistently, effectively and efficiently.