Insertion device for an insertion set

An insertion device (10) for inserting at least a portion of at least one piercing member (12) through the skin (16) of a patient, the insertion device comprises a device housing (28); a carrier body (30) slidably received within the device housing for movement between an advanced position and a retracted position, the carrier body including a receiving structure (32) to support an insertion set (14) in a position with the at least one piercing member oriented for insertion through the skin of the patient at a predetermined angle relative to the skin of the patient upon movement of the carrier body from the retracted position to the advanced position, wherein the carrier body is shipped with the insertion set pre-installed; and a driver (34) operatively coupled between the device housing and the carrier body to urge the carrier body with a controlled force and speed from the retracted position toward the advanced position to place at least a portion of the at least one piercing member through the skin of the patient to install the insertion set to the patient, wherein the receiving structure of the carrier body is removable from the insertion set while maintaining installation of the insertion set to the patient, and the insertion set is left on the skin of the patient without the piercing member by removing the insertion device from the skin of the patient, the insertion device being engaged to the at least one piercing member to withdraw the at least one piercing member from the insertion set.