Omitting the rotation of needle around its axis in the transformation module

Operating system: window 7
Slicer version:4.8.1

To plan a needle insertion process, i need to load a needle in slicer and finding the transformation of the needle to obtain the position and orientation if the needle tip. I use the transformation module to achieve this purpose. But i found that the rotation of the needle around its axis affects the transformation module.
I need to know how can i omit the effect of the rotation around the needle axis?
I would be so appreciated if anyone could help me…

It is not completely clear what you would like to achieve, but switching the order of translation/rotation may help (toggle button next to invert button with an icon of translation/rotation arrows).

For setting remote center of rotation and create any kind of combination of transforms, you can create a transform hierarchy by applying transforms to transforms.