Self optimizing lancing device with adaptation means to temporal variations in cutaneous properties

A lancing device comprising:

• a lancet with a shaft having a proximal driving end and a distal lancing end;
• a lancet driver coupled to said lancet for longitudinal displacement of said lancet;
• and
• a lancet controller coupled to said lancet driver and configured to change a magnitude of force exerted on the lancet during a lancing cycle, said lancet controller including a feedback loop for monitoring a longitudinal displacement and velocity to provide a controlled acceleration of said lancet and for modulating the lancet driver to provide a predetermined tissue lancing profile having characteristic phases for lancet advancement and retraction;
• and
• a position sensor coupled to the lancet and to the lancet controller, the position sensor and the lancet controller configured to measure
• a distance from an initialization point to a point of contact of the lancet to a target tissue surface, the lancet being retracted by the driver to the initialization point with a distance to the target tissue being measured and a depth of penetration of the lancet determined.