Robotic tattooing systems and related technologies
An automatic tattoo apparatus can be used to robotically apply tattoos. A customer can shop on an online tattoo marketplace to select designs created by various artists located anywhere. The online tattoo marketplace can process and manage payments, artist and/or customer profiles, bookings, tattoo design uploads, browsing and design selection, design changes, and/or perform other actions. The automatic tattoo device can apply tattoos precisely, quickly, and may with reduced pain. The tattoo apparatus can apply a wide range of different types of tattoos, including but not limited to micro tattoos, dotwork, blackwork tattoos, realism tattoos, fine-line tattoos, etc.
1. A tattoo apparatus for applying a tattoo, comprising:
a tattoo device having at least one needle; and
a controller that executes programming which causes the tattoo apparatus to perform a process including:
receiving data associated with a tattoo design selected by a subject;
determining shading for a dot of the tattoo design; and
robotically forming the dot along the subject according to the determined shading using the tattoo device.
2. The tattoo apparatus of claim 1 , wherein the process includes selecting ink depth deposition for the determined shading.
3. The tattoo apparatus of claim 1 , wherein the process includes selecting a number of punctures for the dot.
4. The tattoo apparatus of claim 1 , wherein the process includes applying dots according to a spatial density for shading of an area and/or a line.
5. The tattoo apparatus of claim 1 , wherein the process includes selecting ink depth deposition, number of punctures for respective dots, and/or spatial density of dots to achieve a shade of color.
6. The tattoo apparatus of claim 1 , wherein the process includes selecting either a number of punctures for respective dots or spatial density of dots to achieve a shade of color.
7. The tattoo apparatus of claim 1 , wherein the process includes:
identifying a stencil on skin of the subject; and
determining one or more locations for applying ink based on the identified stencil.
8. The tattoo apparatus of claim 1 , wherein the process includes determining skin location by analyzing at least one pattern on skin of the subject.
9. The tattoo apparatus of claim 1 , wherein the process includes determining a location of an end effector with respect to at least a portion of a stencil on skin of the subject.
10. The tattoo apparatus of claim 1 , wherein the process includes determining a location of an end effector of the tattoo apparatus with respect to at least a portion of the subject's skin based on natural skin features.
11. The tattoo apparatus of claim 1 , wherein the process includes determining skin location by analyzing at least one stenciled artificial pattern on the subject's skin.
12. The tattoo apparatus of claim 1 , wherein the process includes determining positioning information for repositioning the subject's skin.
13. The tattoo apparatus of claim 1 , wherein the process includes automatically stopping tattooing to allow repositioning of the subject's skin.
14. The tattoo apparatus of claim 1 , further comprising displaying, via a display, one or more positions for a body part of the subject being tattooed.
15. The tattoo apparatus of claim 1 , wherein the process includes:
comparing a stencil on the subject in an undeformed state to the stencil in a deformed state; and
compensating for skin deformation based on the comparison.
16. The tattoo apparatus of claim 15 , wherein the process includes determining skin stretch by maximizing matching of a plurality of pattern features of the stenciling.
17. A method for robotically applying a tattoo, comprising:
receiving data associated with a tattoo design selected by a subject;
determining shading for a dot of the tattoo design; and
robotically forming, via a tattoo apparatus, the dot along the subject according to the determined shading.
18. The method of claim 17 , further comprising selecting ink depth deposition for the determined shading.
19. The method of claim 17 , further comprising selecting a number of punctures for the dot.
20. The method of claim 17 , further comprising applying dots according to a spatial density for shading of an area and/or a line.
21. The method of claim 17 , further comprising selecting ink depth deposition, number of punctures for respective dots, and/or spatial density of dots to achieve a shade of color.
22. The method of claim 17 , wherein either a number of punctures for respective dots or spatial density of dots are selected to achieve a shade of color.
23. The method of claim 17 , further comprising determining a location of an end effector with respect to at least a portion of the skin based on natural skin features.
24. The method of claim 17 , further comprising determining skin location by analyzing at least one stenciled artificial pattern on the subject's skin.
25. The method of claim 17 , further comprising automatically stopping tattooing to allow repositioning of the subject's skin.
26. The method of claim 17 , further comprising displaying one or more positions for a body part being tattooed.
27. The method of claim 17 , further comprising:
applying a stencil to the subject's skin;
identifying the stencil; and
determining one or more locations for applying ink based on the identified stencil.
28. The method of claim 27 , further comprising determining the one or more skin locations by analyzing at least one pattern on the skin.
29. The method of claim 27 , further comprising determining a location of an end effector of the tattoo apparatus with respect to at least a portion of the stencil.
30. The method of claim 27 , further comprising:
comparing the stencil in an undeformed state to the stencil in a deformed state; and
compensating for skin deformation based on the comparison.
31. The method of claim 27 , further comprising applying the stencil on substantially relaxed skin.
32. The method of claim 27 , further comprising determining skin stretch by maximizing match of a plurality of pattern features of the stenciling.
33. A non-transitory computer-readable medium storing instructions that, when executed by a tattoo apparatus, cause the tattoo apparatus to perform operations comprising:
receiving data associated with a tattoo design selected by a subject;
determining shading for a dot of the tattoo design; and
robotically forming the dot along the subject according to the determined shading.