Tissue penetration device

1. A method of lancing the tissue of a patient comprising:

(a) providing a tissue penetration element having a tip configured to penetrate tissue;

(b) disposing the tissue penetration element in proximity to the tissue of the patient;

(c) initiating a lancing cycle including advancing a tip of the tissue penetration element into the tissue during a penetration stroke and displacing the tissue penetration element proximally over a withdrawal stroke;

(d) acquiring tissue data based on an interaction between the tissue penetration element and the tissue during at least a portion of the lancing cycle;

(e) using a processor to determine that a skin surface has been contacted by the tissue penetration element when the tip of the tissue penetration element has moved a predetermined distance with respect to an initial position; and position of the tissue penetration element via an electronic drive force generator;

(f) using tissue data for feedback control for the processor and provide for velocity control;

(g) controlling a tissue penetration element velocity into and out of the tissue to allow for compensation for changes in skin thickness and variations in skin hydration; and

(h) achieving spontaneous blood yield.

2. The method of claim 1 , wherein the tissue data obtained during the lancing cycle of (c) to optimize the success of the lancing cycle.

3. The method of claim 1 , wherein the tissue data acquired comprises tissue elasticity data.

4. The method of claim 1 , wherein the tissue data is acquired by measuring resistive forces on the tissue penetration element during the lancing cycle.