Aims. We attempt to place very accurate positional constraints on seven gravitationally lensed quasars currently being monitored by the COSMOGRAIL collaboration, and shape parameters for the light distribution of the lensing galaxy. We attempt to determine simple mass models that reproduce the observed configuration and predict time delays. We finally test, for the quads, whether there is evidence of astrometric perturbations produced by substructures in the lensing galaxy, which may preclude a good fit with the simple models. Methods. We apply the iterative MCS deconvolution method to near-IR HST archival data of seven gravitationally lensed quasars. This deconvolution method allows us to differentiate the contributions of the point sources from those of extended structures such as Einstein rings. This method leads to an accuracy of 1-2 mas in the relative positions of the sources and lens. The limiting factor of the method is the uncertainty in the instrumental geometric distortions. We then compute mass models of the lensing galaxy using state-of-the-art modeling techniques. Results. We determine the relative positions of the lensed images and lens shape parameters of seven lensed quasars: HE 0047-1756, RX J1131-1231, SDSS J1138+0314, SDSS J1155+6346, SDSS J1226-0006, WFI J2026-4536, and HS 2209+1914. The lensed image positions are derived with 1-2 mas accuracy. Isothermal and de Vaucouleurs mass models are calculated for the whole sample. The effect of the lens environment on the lens mass models is taken into account with a shear term. Doubly imaged quasars are equally well fitted by each of these models. A large amount of shear is necessary to reproduce SDSS J1155+6346 and SDSS J1226-006. In the latter case, we identify a nearby galaxy as the dominant source of shear. The quadruply imaged quasar SDSS J1138+0314 is reproduced well by simple lens models, which is not the case for the two other quads, RX J1131-1231 and WFI J2026-4536. This might be the signature of astrometric perturbations caused by massive substructures in the galaxy, which are unaccounted for by the models. Other possible explanations are also presented.