Patent ID: 7850621
Filing Date: 2010-12-14
Classification: A61B

Abstract:
1. A method of controlling a penetrating member at a tissue site for receiving a body fluid from a wound created at the tissue site, the method comprising: (a) providing a lancing device that includes a penetrating member driver coupled to a position sensor and a processor, the position sensor and processor determining a relative position and velocity of the penetrating member based on measuring relative position of the penetrating member with respect to time; (b) launching the penetrating member from the lancing device; (c) measuring relative position of the penetrating member with respect to time with the processor and position sensor; (d) accelerating the penetrating member towards a target tissue; (e) in response to measuring relative position of the penetrating with respect to time using an adaptive control algorithm coupled to the penetrating driver to decelerate the penetrating member to follow a desired trajectory, wherein the penetrating member is not decelerated in a sudden manner where the target tissue bounds away from the penetrating member.