Method and apparatus for penetrating tissue

A tissue penetrating system, comprising:

• a plurality of penetrating members each with a tip;
• a penetrating member driver coupled to the plurality of penetrating members;
• a support with a plurality of openings, each opening receiving a penetrating member, each tip of a penetrating member being uncovered during launch of a penetrating member by the penetrating driver member;
• and
• a penetrating member position sensor coupled to the plurality of penetrating members and to a processor, the penetrating member position sensor and the processor configured to measure a distance from an initialization point to a point of initial contact of a penetrating member to a target tissue surface, the penetrating member being retracted by the penetrating member driver to the initialization point with a distance to the target tissue being measured and a depth of penetration of the penetrating member determined.