US 11,839,734 B2
Robotic tattooing systems and related technologies
Yan Azdoud, Austin, TX (US); Joel Richard Pennington, Austin, TX (US); Eric Nelson Watts, Austin, TX (US); Deniz Ozturk, Philadelphia, PA (US); Anna Ailene Scott, Austin, TX (US); and Christopher Daniel Kelley, Georgetown, TX (US)
Assigned to Blackdot, Inc., Austin, TX (US)
Filed by Blackdot, Inc., Austin, TX (US)
Filed on Jan. 25, 2021, as Appl. No. 17/157,935.
Application 17/157,935 is a continuation in part of application No. PCT/US2020/043588, filed on Jul. 24, 2020.
Claims priority of provisional application 62/964,579, filed on Jan. 22, 2020.
Claims priority of provisional application 62/878,673, filed on Jul. 25, 2019.
Prior Publication US 2021/0386987 A1, Dec. 16, 2021
Int. Cl. A61M 37/00 (2006.01); A61B 34/30 (2016.01); B25J 9/16 (2006.01); B25J 15/00 (2006.01); G06V 10/22 (2022.01); G05B 19/4155 (2006.01); G06Q 20/12 (2012.01); G06Q 20/38 (2012.01); G06Q 20/40 (2012.01); G06V 10/56 (2022.01); G06V 10/24 (2022.01)
CPC A61M 37/0076 (2013.01) [A61B 34/30 (2016.02); A61M 37/0084 (2013.01); B25J 9/1679 (2013.01); B25J 9/1697 (2013.01); B25J 15/0019 (2013.01); G05B 19/4155 (2013.01); G06Q 20/1235 (2013.01); G06Q 20/3825 (2013.01); G06Q 20/40 (2013.01); G06V 10/225 (2022.01); G06V 10/56 (2022.01); A61M 2205/3306 (2013.01); A61M 2205/6063 (2013.01); A61M 2210/04 (2013.01); G05B 2219/50391 (2013.01); G06V 10/245 (2022.01)] 28 Claims
OG exemplary drawing
 
1. A tattoo device comprising:
at least one sensor configured to detect at least one characteristic of a portion of skin;
a needle assembly including a tattoo needle and a needle motor which oscillates the needle;
an actuator assembly coupled to the needle assembly and including
a first actuator configured to move the needle assembly relative to the skin to control a piercing depth of the tattoo needle, and
a second actuator configured to control number of punctures per tattoo dot by engaging and disengaging the tattoo needle with the skin during oscillations; and
a controller in communication with the at least one sensor and the actuator assembly, wherein the controller is programmed to:
determine a piercing depth and a number of needle punctures for a tattoo dot based at least in part on the detected at least one characteristic of the portion of skin, and
command the first actuator to position the needle assembly such that the tattoo needle extends to the determined piercing depth and to command the second actuator to position the tattoo needle such that the tattoo needle, which is being oscillated by the needle motor, punctures the skin for the determined number of needle punctures to apply ink to form the tattoo dot.
 
13. A tattoo device comprising:
at least one sensor configured to detect at least one characteristic of a portion of skin;
a needle assembly including a tattoo needle and a needle motor, wherein the needle motor is configured to oscillate the tattoo needle;
an actuator assembly including
a first actuator configured to move the needle assembly relative to the skin to control a piercing depth of the tattoo needle, and
a second actuator configured to control a number of punctures per tattoo dot by the tattoo needle being oscillated by the needle motor; and
a controller in communication with the at least one sensor and the actuator assembly, wherein the controller is programmed to
determine a piercing depth and a number of punctures for a respective tattoo dot based at least in part on the detected characteristic of the portion of skin, and
command the first actuator to position the needle assembly to position the tattoo needle, when extended, to the determined piercing depth and to command the second actuator to move the needle assembly such that the tattoo needle punctures the skin for the determined number of punctures to apply the respective tattoo dot.
 
24. A method for robotic tattooing, comprising:
measuring with at least one sensor at least one characteristic of a portion of skin corresponding to a dot position;
controlling a piercing depth of at least one needle tip for the dot position based at least in part on the at least one characteristic of the portion of skin measured when the at least one needle tip pierces the skin; and
depositing pigment from the at least one needle tip at the dot position.