Needle placement is a common procedure for diagnostics (e.g. biopsy and discography) or therapy (e.g. vertebroplasty and radiofrequency ablation). Precision in translation and orientation of the needle is crucial. The success of the procedure strongly depends on the experience and skills of the physician. With the development of new therapies in interventional radiology, needle placement can involve complex trajectories, requiring expertise from the physician as well as navigation and imaging facilities. In procedures using PET/CT scanners, additional issues are imposed by patient access and radiation exposure of the patient and the medical staff. As a solution for such issues, computer assisted systems have been developed to assist positioning, path planning and control. This paper presents a telemanipulator system for CT image guided interventional radiological procedures in the spine area (e.g. biopsy, radiofrequency ablation, vertebroplasty/kyphoplasty and discography). As direct interaction between the physician and the instrument and patient is lost, the system provides visual and haptic feedback to the physician to restore. A novel 5(+1) DoF robot with a special endeffector is being developed to manipulate the needle. Integrated planning information guides the physician during the procedures. The use of this system aims to reduce overall radiation exposure of patients and physicians, as well as to combine robotic and human abilities, opening the path for the development of new interventional procedures.