WO2020178818A1 - Système automatisé de tatouage et procédé - Google Patents

Système automatisé de tatouage et procédé Download PDF

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Publication number
WO2020178818A1
WO2020178818A1 PCT/IL2020/050237 IL2020050237W WO2020178818A1 WO 2020178818 A1 WO2020178818 A1 WO 2020178818A1 IL 2020050237 W IL2020050237 W IL 2020050237W WO 2020178818 A1 WO2020178818 A1 WO 2020178818A1
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WO
WIPO (PCT)
Prior art keywords
area
ink
tattoo
body part
tattooed
Prior art date
Application number
PCT/IL2020/050237
Other languages
English (en)
Inventor
Orr Karl FABIAN
Guy ADLER
Lior Yaakov CHERTKOW
Eliyahu Schwartz
Ron DANON
Jacob NES-EL
Original Assignee
Inka Advanced Technologies Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Inka Advanced Technologies Ltd. filed Critical Inka Advanced Technologies Ltd.
Publication of WO2020178818A1 publication Critical patent/WO2020178818A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M37/00—Other apparatus for introducing media into the body; Percutany, i.e. introducing medicines into the body by diffusion through the skin
    • A61M37/0076—Tattooing apparatus

Definitions

  • the present invention in some embodiments thereof, relates to an automated system and method for tattooing and, more particularly, but not exclusively, to an automated system and method to apply a permanent tattoo on a human body.
  • the process or technique of tattooing involves the insertion of pigment into the skin's dermis.
  • the tattooing process is typically performed with a hand-held electric tattoo machine device that is operated by a tattoo artist.
  • the electric tattooing device inserts ink into the dermis skin via a single needle or a group of needles to form a desired (and stable) pattern that is visible through the epidermis.
  • the needles are typically fixed to a bar that is made to oscillate and repeatedly drive the needles in and out of the skin, usually 80 to 150 times a second while ink is delivered via the needle.
  • the pattern is first outlined with a stencil in dark colored ink (stencil is not free hand), and then the colors are filled in with the hand-held electric tattoo machine.
  • the tattooing needle injects a single color at a time, and repeated applications are necessary to produce a multi-colored pattern.
  • the process is known to be time consuming, laborious, and consequently expensive. In addition, inaccuracies are common.
  • U.S. Patent No. 6,341,831 entitled“Skin decoration apparatus and method,” the contents of which are incorporated by reference herein describe an apparatus for decorating at least a curved area of a skin surface with a desired design.
  • the apparatus includes an array of WirejetTM or electronically controlled ink ejection nozzles that deliver biocompatible inks to the skin, a scanning means and a control system that stores the desired design and fires the nozzles so as to produce the design on the curved area of the skin.
  • the designs are applied to the epidermal and upper dermal skin layers and last for at least several weeks.
  • the automated system includes an automated arm; a delivery device mounted on the automated arm; one or more cameras mounted on the automated arm; a processor configured to receive and process images acquired by the one or more cameras and a controller operatively associated with the processor and configured to maneuver the automated arm.
  • One or both of the processor and controller is configured to cause (i) a distal end of the delivery device to puncture the skin surface at the targeted location and penetrate into a tissue to generate a tissue penetration track in the tissue, and (ii) a controlled delivery through the delivery device of a therapeutic or cosmetic substance into the tissue at multiple locations along the tissue penetration track while retracting the delivery device from the tissue penetration track.
  • U.S. Patent No. 8,036,448 entitled “Methods and devices for tattoo application and removal,” the contents of which are incorporated by reference herein describe a robotic tattoo application and tattoo removal methods and systems.
  • the technology involves the use of a robotic system guided by control of a graphics capable computer in order to perform various types, including artistic, recreational, cosmetic, or therapeutic tattooing, or tattoo removal.
  • a method for color matching at least one element of a new tattoo to a field on a body surface is described.
  • the field is a pre-existing tattoo, portion thereof or a portion of a skin surface.
  • a prototype industrial robot that has been programed to tattoo a spiral on person's leg is disclosed on internet site //www(dot)dezeen(dot)com/2017/08/12/fanuc-m-710ic-robot- appropriate-audiences-tattoo-human-first-time/.
  • an automated tattooing system and method may improve safety, pain, accuracy, and speed of the tattooing process and may also improve a user experience of the tattooing process.
  • the system and method is configured to track movement of the skin over the tattooing process and may dynamically update movement of an end effector to compensate for a warping of the area of interest based due to skin movement. Skin movement may occur during the tattooing process for example due to fidgeting, twitching and/or muscle contraction. The skin movement may lead to local changes in the geometry of the area of interest, e.g. the area being tattooed.
  • the system is configured to clean and/or sooth an area being tattooed over that tattooing process.
  • cleaning may improve accuracy of the tattooing and allow the person to monitor progression of the tattooing process while the soothing may improve user experience (relieve pain) and promote healing of the tattooed area.
  • the system and method provides for maintaining an area to be tattooed in a stretched configuration during the tattooing process. Stretching the skin during the tattooing process may improve precision of the tattooing process.
  • the system and method provides moving a tattooing needle with an end effector of a robotic arm while controllable dispensing ink via the needle.
  • an end effector includes an array of needles that may be selectively actuated.
  • the end effector includes a needle housing configured to receive the needle therein whenever the tattooing process is paused and/or whenever a needle is not being used.
  • a portion of the needles in the array are selectively housed in the housing. Retraction into the housing may provide a safety feature to prevent undesired piercing when a halt operation command is received and/or when gross movement of the body part is detected.
  • the system includes a user interface configured to allow a person receiving the tattoo to choose the tattoo, control one or more parameters of the tattooing process as well as monitor the tattooing process and thereby improve their user experience.
  • an automated tattooing system comprising: a robotic arm including an end effector; an inking head fixed to an end effector of the robotic arm, wherein the inking head is configured to controllably dispense a pigment to tattoo a body part; an imaging device configured for three dimension imaging, wherein the imaging device is displaced from the robotic arm and is stationary; a user interface comprising an electronic display and user input device, the user interface configured to display output from the imaging device and receive user input; and a computing device configured to control a movement path of the robotic arm based on image data provided by the imaging device and based on the user input.
  • the robotic arm is configured to controllably manipulate the end effector in at least six degrees of freedom.
  • the robotic arm is mounted on a gantry configured to controllably move the robotic arm along an X, Y and Z direction.
  • the robotic arm is configured to controllably provide pitch and roll rotation of the end effector.
  • the inking head includes: a tip end configured to dispense ink to a body part; a source of ink in fluid communication with the tip end; and a controller configured to control operation of the tip end.
  • the tip end is an ink jet nozzle configured to jet stream ink and wherein the controller is configured to control the ink jet nozzle.
  • the tip end is a piercing needle and wherein the inking head further comprises an oscillatory actuator that drives the piercing needle along a longitudinal axis of the piercing needle, the oscillatory actuator actuated concurrently with controlled movement of the robotic arm.
  • the controller is configured to control frequency of oscillation of the oscillatory actuator on the fly based on input from the computing device.
  • the piercing needle is configured to actuate delivery of ink from the ink source in dose quantities based on the actuated oscillatory movement of the piercing needle.
  • the piercing needle is in fluid communication with a plurality of different sources of ink and wherein the controller is configured to selectively control flow between each of the plurality of different sources of ink and the piercing needle, wherein the plurality of different sources of ink include different colored ink.
  • the piercing needle defines a conduit and wherein ink from at least two different sources of ink from the plurality of different sources is concurrently streamed into the conduit.
  • the source of ink is an ink cartridge that is configured to controllably deliver ink dose quantities.
  • the inking head includes a plurality of tip ends, each of the plurality of tip ends configured to dispense ink to a body part and wherein the controller is configured to selectively control operation of each of the plurality of tip ends.
  • the inking head includes a housing and wherein the end tip is configured to retract into the housing on demand based on input from the computing device.
  • the inking head includes an inking head reservoir and wherein the inking head is configured to receive ink from the source of ink through a dedicated flow channel that directs ink flow into an inking head reservoir.
  • the inking head reservoir includes a collection area configured to collect ink in the reservoir when the inking head is tipped over.
  • the system includes a distance sensor mounted on the end effector, wherein the distance sensor is configured to monitor the distance between the inking head and a body surface being tattooed and wherein the distance sensor provides input to the inking head based on which the inking head adjusts its operation.
  • the system includes a cleaning device mounted on the end effector, wherein the cleaning device is configured to displace fluid from an area of a body part being tattooed.
  • the cleaning device includes a suction pump and a nozzle extending toward the end tip, wherein the suction pump is configured to suction access ink and blood in the area of the body part being tattooed.
  • the cleaning device includes a blower configured to blow air toward the area of the body part being tattooed.
  • the blower is configured to blow cold air to soothe the area of the body part being tattooed.
  • the cleaning device includes a camera configured to monitor removal of fluid from the area of the body part being tattooed and a cleaning device controller configured to adjust operation of the cleaning device based on input from the camera.
  • the system includes a skin stretcher mounted on the end effector, wherein the skin stretcher is configured to stretch skin in the area of the body part being tattooed.
  • the skin stretcher comprises: a base fixedly mounted on the inking device; and a plurality of rods extending from the base, wherein each of the plurality of rods is configured to pivot with respect to the base against a spring force.
  • an end of at least one of the plurality of rods includes a roller or ball bearing.
  • the plurality of rods configured to substantially surround a tip end extending from the ink head, wherein the tip end is configured to dispense ink to a body part.
  • the skin stretcher includes a sensor configured to sense skin tension and a controller configured to alter the spring force based on input from the sensor.
  • the system includes a pair of standalone skin stretchers configured to be mounted on a body part being tattooed.
  • each of the pair of standalone skin stretchers includes a roller, ratchet and strap.
  • the imaging device is directed at the robotic arm and includes at least one depth camera and a red-green-blue (RGB) camera, wherein at least one depth camera is configured to construct a three dimensional model.
  • RGB red-green-blue
  • the imaging device is configured to construct three dimensional models of a selected portion of a body part to be tattooed in real time.
  • the imaging device is configured to track locations of landmarks on the skin in real time based on output from the RGB camera.
  • the computing device is configured to monitor warping of the area of the body part being tattooed based on input from the imaging device and to compute changes to a path of the robotic arm based on identifying the warping on the fly during operation of the system.
  • the imaging device is configured to model a curvature of an area of the body part being tattooed and wherein the computing device is configured to control orientation of the robotic arm to maintain a normal configuration with an area of a body part being tattooed.
  • the user interface includes a graphical user interface (GUI) providing an augmented reality display of the area of the body part to be tattooed with a selected virtual tattoo.
  • GUI graphical user interface
  • the GUI includes a tool bar configured to graphically manipulate the virtual tattoo on the augmented reality display, wherein graphically manipulating includes one or more of moving, resizing, orientating the virtual tattoo on the three dimensional real time model of the area of the body part to be tattooed.
  • the GUI includes a library of images that can be selected by the user and tattooed with the system.
  • the user interface includes a graphical user interface (GUI) based on which a user may control operation of the tattooing process with the system, wherein the GUI includes a scroll bar configured to control a piercing frequency of the inking head.
  • GUI graphical user interface
  • the system includes a window displaying an estimated time to completion of a tattoo, wherein the estimated time is displayed during operation of the system.
  • the system includes a window displaying a video of the area on the body part as it is being tattooed.
  • the system includes a virtual selection button that is configured to immediately pause operation of the system when selected.
  • a method for automated tattooing comprising: mounting an inking head on an end effector of a robotic arm, wherein inking head is configured to dispense ink for tattooing an area on a body part concurrently with movement of the robotic arm in a defined path; imaging the area in three dimensions with a stationary imaging device displaced from the robotic arm; receiving user input, wherein the user input defines a tattoo to be positioned on the area; texture mapping a virtual image of the tattoo on the area based on the imaging; computing transformation between a reference frame of the stationary imaging device and a reference frame of the robotic arm; defining a path of the robotic arm based on the texture mapping; and moving the robotic arm over the defined path to apply the tattoo on the area based on the imaging, the user input and the transformation.
  • the method includes computing a three dimensional model of the image data and updating the model in real time.
  • the method includes performing background segmentation to select the area of the body part.
  • the method includes displaying an augmented reality tattoo preview of the virtual image of the tattoo on the area.
  • the user input is configured to manipulate the virtual image of the tattoo displayed.
  • the manipulating includes one or more of altering size, position, orientation and color of the virtual image of the tattoo.
  • the path is defined to replicate the virtual image of the tattoo as displayed in the augmented reality tattoo preview.
  • the method includes tracking movements of the area during the tattooing process and updating the path on the fly based on tracking movement.
  • tracking movements includes tracking gross movement of the area and tracking warping of the area.
  • the method includes receiving a user command to alter speed of the tattooing process and adjusting a piercing rate of the inking head based on the user command.
  • the method includes cleaning an immediate area being tattooed during the tattooing process.
  • the method includes cooling an immediate area being tattooed during the tattooing process.
  • the method includes stretching the immediate area being tattooed during the tattooing process.
  • FIG. 1 is a simplified schematic drawing of an example automated tattooing system in accordance with some example embodiments
  • FIG. 2 is a simplified schematic drawing of an example robotic arm of an automated tattooing system in accordance with some example embodiments
  • FIGS. 3 A and 3B are perspective and side view respectively of an example gantry from an automated tattooing system in accordance with some example embodiments;
  • FIG. 4 is a simplified flow chart of an example method to calibrate the automated tattooing system in accordance with some example embodiments
  • FIG. 5 is a simplified flow chart of an example method to generate a three dimensional model of an area of interest with an automated tattooing system in accordance with some example embodiments;
  • FIG. 6 is a simplified flow chart of an example user interactive method to define parameters of a tattoo to be applied on a selected area of interest in accordance with some example embodiments;
  • FIG. 7 is a simplified flow chart of an example method to control operation of the tattooing process in accordance with some example embodiments
  • FIG. 8 is a simplified flow chart of an example method to update the path of the end effector based on detected movement in the area of interest.
  • FIG. 9 is a simplified flow chart of an example user interactive method to control piercing rate of the automated tattooing system in accordance with some example embodiments.
  • FIGS. 10A and 10B are example graphical user interfaces to define parameters of a tattoo to be applied on a selected area of interest and to provide input during the tattooing process respectively, both in accordance with some example embodiments;
  • FIGS. 11A and 1 IB are an example tattooing tip device shown in two different orientations, both in accordance with some example embodiments;
  • FIGS. 12A and 12B are an example tattooing tip device with cartridge shown in two different operative states, both in accordance with some example embodiments;
  • FIGS. 13 A and 13B are an example tattooing tip and an example block of tattooing tips respectively, both in accordance with some example embodiments;
  • FIG. 14A and 14B are an example drawing and an example image respectively of a stationary skin stretching device configured to be used with an automated tattooing device in accordance with some example embodiments.
  • FIG. 15 is simplified schematic drawing of an example stretching device include in an end effector of an example automated tattooing system in accordance with some example embodiments.
  • the present invention in some embodiments thereof, relates to an automated system and method for tattooing and, more particularly, but not exclusively, to an automated system and method to apply a permanent tattoo on a human body.
  • the system and method generates a texture map of a two dimensional image to match a selected body part and also dynamically updates the map to compensate for any body movement including local skin movement during the tattooing process.
  • local skin movement may lead to warping of the area to be tattooed and the dynamic updates are configured to adjust movement of the end effector based on the temporary warping.
  • the system includes a cleaning and/or cooling device that is configured to move together with a tattooing needle and dynamically clean and/or cool an area as it is being tattooed.
  • the cleaning device is a suction pump that is configured to suction excess ink lying on a surface of the skin.
  • the cleaning device includes a spray nozzle configured to spray a cleaning agent in an area that is to be tattooed.
  • the cooling device is a blower configured to generate flow of the excess ink away from an immediate area being tattooed.
  • the blowing is configured to provide a soothing sensation.
  • the blower is configured to blow cold air to enhance the soothing sensation.
  • the blowing is configured to remove unwanted fluids and contaminations.
  • the blown air is also cooled to allow pain relief by cooling the tattooed area during the tattooing process.
  • the system and method includes a device that maintains a stretched configuration of at least a portion of the skin being tattooed for stabilization ⁇
  • the stretching device included in the end effector and is configured to move together with the tattooing needle during the tattooing process.
  • the stretching device has a tripod configuration that encompasses the need.
  • the stretching device is standalone device that is attached to the person and is stationary.
  • the system includes a tattoo needle integrated with a syringe pump that provides for controllably dispensing ink at a desired rate.
  • a controller associated with the system is configured to control dispensing ink from the syringe pump via the tattoo needle.
  • the tattoo needle includes a housing and the tattoo needle is configured to controllably retract into the housing whenever the tattooing process is paused. The retraction is a safety feature that may prevent undesired piercing when a halt operation command is received and/or when gross movement of the body part is detected.
  • the system includes an array of needles that may be selectively operated. Optionally, needles that are not being operated are maintained in a retracted state within the housing.
  • the user interface provides an augmented reality image of a selected tattoo on a body part of the person and the person may control one or more of size, orientation and location of the tattoo using a graphical user interface (GUI) with augmented reality display.
  • GUI graphical user interface
  • the tattooing system may suggest alterations based on detection of discoloration of the skin.
  • the tattooing system defines parameters of the tattoo based on the augmented reality image displayed to the user.
  • a movement path for forming the tattoo on the body part may be defined based on the displayed virtual tattoo.
  • the movement path of the tattooing needle is defined to minimize duration of the tattooing process and/or to increase accuracy of the tattooing.
  • the movement path of the tattooing needle is defined to conserve ink.
  • the movement path defined includes first tattooing a plurality of landmarks that at least partially encompass the extent of the area being tattooed and subsequently completing the tattoo while using the landmarks to track skin movement.
  • the user interface allows the person receiving the tattoo to dynamically adjust operation of the tattooing system based on the comfort level of that person.
  • the person may dynamically adjust a piercing rate of the tattoo needle based on the comfort level.
  • the person may dynamically adjust the number of needles concurrently being used based on the comfort level.
  • the system displays estimated time of completion of the tattoo and the display is dynamically adjusted based on the selected piercing rate and/or number of piercing needles.
  • a person may immediately halt operation of the tattooing process via the user interface.
  • an automated tattooing system 100 includes an articulated robotic arm 40 with end effector 50 that can be manipulated in three dimensional space to control positioning of an inking head 50.
  • articulated robotic arm 40 provides controlled movement with six degrees of freedom or more.
  • movement of end effector 50 over the skin together is controlled based on input from an imaging device 30 (or more than one imaging device 30 positioned around working area of system 100) that is stationary, e.g. standalone with respect to robotic arm 40 and are directed toward platform 60, the body part to be tattooed and/or end effector 50 to capture images of end effector 50 of robotic arm 40 and the body part to be tattooed.
  • Imaging device 30 may include one or more depth cameras and a red-green-blue (RGB) cameras.
  • system 100 includes more than one imaging devices 30 positioned around a working area of system 100. Outputs from imaging device 30 may be transmitted to a computing device 15 and processed based on which operation of automated tattooing system 100 is controlled.
  • Image data obtained from imaging system 30 may be processed by computing device 15 to both define an initial three dimensional (3D) path of end effector 50 for performing the tattooing process and to update the initial three dimensional path over the course of the tattooing process.
  • Computing device 15 may include one or more processors and controllers to provide both processing and controlling functionality.
  • a person receiving the tattoo is seated or reclined on a platform 60.
  • the person may stand during the tattooing process.
  • an operator may manually position end effector 50 in the vicinity of the body part to be tattooed.
  • robotic arm 50 may also be manually moved to accommodate positioning with respect to different body parts.
  • automated tattooing system 100 includes an electronic display 10 and a user input device 20 with which a user, e.g. an operator and/or a person receiving the tattoo may interface with automated tattooing system 100.
  • a user e.g. an operator and/or a person receiving the tattoo
  • output from the RGB camera included in imaging device 30 may be displayed on electronic display 10.
  • Electronic display 10 and user input device 20 together form a user interface for system 100.
  • User input device 20 may be one or more of a touchscreen, keyboard, mouse and joystick.
  • FIG. 2 is a simplified schematic drawing of an example robotic arm of an automated tattooing system in accordance with some example embodiments.
  • robotic arm 40 is an articulated robotic arm that is movable in each of an X, Y and Z direction.
  • robotic arm 40 additionally includes one or more joints 45 capable of providing rotation along one or more of a roll, pitch or yaw axis.
  • the rotational movement provides maintaining an inking head 550 and/or a tip end 551 of inking head 550 in a normal orientation with respect to a body part being tattooed.
  • Robotic arm 40 may include a local controller 44 configured to control movement of robotic arm 40. Local controller 44 may transmit and receive commands from computing device 15 to coordinate and control the tattooing process.
  • inking head 550 includes a tip end 551 (or more than one tip end 551) configured to deliver ink to the skin, a source of ink 520 in fluid communication with tip end 551, a controller 552 configured to control operation of tip end 551 and a housing 555. Controller 552 may receive commands from computing device 15.
  • tip end 551 is a needle configured to penetrate into the skin
  • inking head 550 additionally includes an oscillatory actuator that drives the needle (tip end 551) in an up and down motion (along a longitudinal axis of the needles).
  • amplitude and frequency of the oscillation may be controlled to obtain a desired tattoo appearance. For example, shades on the cellular surface may be created by adjusting a penetrating depth of the needle strokes by a controller. Deeper penetration will create a less visible color on the surface.
  • inking head 550 may include an inkjet mechanism that produces a jet stream of ink that tattoos the skin without a needle and tip end 551 is an ink jet nozzle providing the jet stream.
  • the source of ink may be an ink bath in communication with a reservoir and a pump 520 or may be a dedicated ink cartridge.
  • Inking head 550 may be operated concurrently with movement of end effector 50. According to some example embodiments, operation of inking head 550 with controlled motion of the end effector 50 along a body part actuates the tattooing process.
  • controller 552 is configured to retract tip end 551 into housing 555 whenever operation of system 100 is paused or while system 100 is not in operation. This feature is a safety feature that is configured to bypasses autonomous control of system 100.
  • end effector 50 includes additional devices that are configured to be operated concurrently with inking head 550 at an immediate area being tattooed.
  • end effector 50 includes a distance sensor 530 configured to monitor distance between tip end 551 of inking head 550 and a body part.
  • Distance sensor 530 may be an optical based distance sensor, e.g. measuring a time of flight or contact distance sensor configured to slide over the body surface.
  • controller 552 is configured to adapt operation of tip end 551 based on input from distance sensor 530. For example, an amplitude of oscillation for a piercing needle may be adjusted based on input from distance sensor 530.
  • end effector 50 additionally includes a pump 520 configured to controllably pump ink from an external reservoir into inking head 550.
  • end effector 50 additionally includes a cleaning device 510.
  • cleaning device 510 is a suction pump configured to suction fluid, e.g. excess ink or blood on a surface of the skin in the vicinity of tip end 551.
  • cleaning device 510 additionally includes a camera 511 to monitor the removal of fluid and to adjust suction power based on the monitoring.
  • cleaning device 510 may alternatively or additionally be configured to blow air toward an area being tattooed in the vicinity of tip 551 to displace ink from the area being tattooed and optionally to provide tactile soothing.
  • a direction of displacing the ink is configured to be other than a direction at which tip 551 is advancing.
  • cold air is directed at the tattooed site and the cold air may reduce the pain that may otherwise be experienced by the person receiving the tattoo over the tattooing process.
  • temperature of the air may be controlled by system 100 based on input from the user.
  • cleaning device 510 alternatively and/or additionally includes a spray nozzle configured to spray a cleaning agent, e.g. alcohol on the body part in the vicinity of tip 551.
  • FIGS. 3 A and 3B are perspective and side view respectively of an example gantry from an automated tattooing system in accordance with some example embodiments.
  • robotic arm 40 of system 100 may be replaced with an end effector 50 or robotic arm 41 supported on a gantry 200.
  • imaging system 30 of system 100 is mounted on gantry 200.
  • gantry 200 includes a pair of x axis rails 42 with carriages 43 that moveably support a y axis rail 44.
  • a z axis rail 46 is movably supported on y axis rail 44.
  • Robotic arm 41 or end effector 50 may be fixed to z axis rail 46.
  • robotic arm 41 includes one or more joints capable of providing rotation along one or more of a roll, pitch or yaw axis.
  • Imaging system 30 is configured to be stationary while end effector 50 is configured to be movable over the tattooing process.
  • Platform 60 (FIG. 1) on which a person receiving the tattoo may be positioned under gantry 200 and imaging system 30 may be directed toward end effector 50 and the platform.
  • Computing device 15 may be mounted on gantry 15 or may be otherwise positioned together with display 10 and user input device 20 (FIG. 1).
  • FIG. 4 is a simplified flow chart of an example method to calibrate the automated tattooing system in accordance with some example embodiments.
  • computer vision control is based on a stationary imaging unit 30 that monitors movement of a movable end effector 50.
  • a calibration process is performed to define a transformation between a coordinate system of imaging system 30 and robotic arm 40 or 41.
  • the calibration is performed and/or updated periodically.
  • calibration is performed prior to each tattooing session.
  • the present inventors have found that calibrating movement of the robotic arm with a stationary imaging device 30 may provide more accurate tracking with less accumulated errors and drift. Furthermore, the present inventors have found that maintaining imaging device 30 reduces computing complexity in tracking moving end effector 50 and affords improved real-time tracking.
  • the calibration method includes moving end effector to a plurality of predefined locations in three dimensional space (block 405) and capturing images at each of the plurality of defined locations.
  • end effector 50 includes a plurality of markers facing imaging device 30 that are dedicated for the calibration process.
  • images are captured with imaging device 30 (block 410).
  • Image processing may be performed on the captured images to identify location of the markers in the images captured (block 415).
  • Computing device 15 receives input from local controller 44 of robotic arm 40 and imaging device 30 and computes a transformation between robotic control system 3D coordinate system and the camera 3D coordinate system (block 420). Based on the defined transformation, robotic arm 40 may be controlled with improved accuracy and/or precision. The transformation may then be stored for use during the tattooing process (block 425).
  • FIG. 5 is a simplified flow chart of an example method to generate a three dimensional model of an area of interest with an automated tattooing system in accordance with some example embodiments.
  • an automated tattooing system 100 constructs a three dimensional model of the body part to determine the parameters of operation prior beginning the tattooing process.
  • imaging device 30 captures images of a body part (block 430).
  • imaging device 30 may capture images of a person’ s arm, leg or back.
  • a user may direct a camera to a general direction that covers the body part to be tattooed.
  • output from imaging device provides a three dimensional model of the body part, e.g. a point cloud model or a triangle mesh model (block 435).
  • the transformation defined during calibration may be applied to fix the three dimensional model to a coordinate system of the robotic arm (block 440).
  • input from an RGB camera of imaging device 30 provides identifying landmarks on the body part that may assist fixing three dimensional model to a coordinate system of the robotic arm over the tattooing process.
  • a user may select an area on the body part on which a tattoo is to be positioned and based on the user selection the area of interest may defined (block 445) and background segmentation of the three dimensional model may be performed (block 450).
  • selected area of interest will be monitored throughout the tattooing process.
  • Landmarks and parameters defining an extent of the area of interest may be stored and used to monitor the area of interest over the tattooing process (block 455). Parts of the tattoo may be used as landmarks.
  • FIG. 6 is a simplified flow chart of an example user interactive method to define parameters of a tattoo to be applied on a selected area of interest in accordance with some example embodiments.
  • system 100 provides an augmented reality tattoo preview on display 10 that displays a tattoo image selected by the user on the defined area of interest.
  • the user may select a tattoo image from a library of images displayed on electronic display 10 (block 605).
  • the selected image may then be virtually placed on the displayed area of interest as a texture map (block 610).
  • the person can see what the tattoo will look like once it is applied on the area of interest.
  • the textured map of the tattoo moves together with the displayed area of interest (like a sticker) in real-time so that the user can inspect positioning of the tattoo from different angles.
  • the computing device 15 monitor virtual positioning of the tattoo and may suggest possible positioning, orientations and sizes for placing the tattoo in the area of interest (block 615).
  • the user may accept a suggested adjustment and/or may introduce self-selected adjustments (block 620).
  • the user interface includes a virtual tool box with which the user may manipulate the virtual tattoo to make changes.
  • the tool box also provides for altering the color of the tattoo.
  • Information from the RGB camera may provide color information to determine how the tattoo would look on the skin color.
  • the tattoo design may be locked onto the three dimensional model of the area of interest (block 625) and parameters for creating the selected tattoo in the selected location and orientation with respect to the area of interest is computed based on image data from the augmented reality display (block 630).
  • the generating may include transforming the image from a two dimensional representation to a three dimensional path in a frame of reference of robotic arm 40 (or robotic arm 41) and optionally including additional commands for controlling the tattooing process.
  • the defined path may include a set of lines and curves to create a quick and safe experience.
  • the defined path may be selected to provide improved accuracy at the expense of operation time.
  • the parameters and instructions may be stored for use during the tattooing procedure (block 635).
  • GUI 310 may be displayed on an electronic display 10 of an automated tattooing system.
  • GUI 310 includes a window 330 in which an augmented reality tattoo preview is displayed in real time on an area of interest, a selection window 350 including a library of tattoo images 351, a toolbar 335 including virtual tools to alter position and/or appearance of a selected tattoo and a selection button 340 that prompts generation of instructions for applying the virtual tattoo with the automated tattooing system.
  • Window 330 may display the three dimensional model of the area of interest in real time together with a textured map of a tattoo selected from library 350.
  • data from the RGB camera may be added to the model.
  • the user may alter appearance of the textured map of the tattoo to resize, move or rotate the tattoo.
  • the user may also be able to choose colors or otherwise darken or lighten the colors as desired.
  • the texture map of the displayed tattoo may be locked to the image of model of the body part and instructions for applying the tattoo are generated.
  • the tattoo applied is configured to look like the augmented reality display shown in window 330.
  • FIG. 7 is a simplified flow chart of an example method to control operation of the tattooing process in accordance with some example embodiments.
  • a tattooing path for applying the selected tattoo on the area of interest is generated, e.g. self-generated by the automated tattooing system (block 640).
  • the tattooing path is defined with respect to the three dimensional model, e.g. point cloud model or mesh model of the area of interest, based on the virtual manipulations performed during the user interaction session and the defined transformation to a reference frame of the robotic arm 40 or 41.
  • the end effector including the ink head is operated based on the tattooing path defined (block 645).
  • imaging device 30 is configured to monitor real time positioning of the area of interested and to detect any gross movement of the area of interest (block 650).
  • markers may be placed on the area of interest to improve and simplify monitoring.
  • landmarks on the skin may be identified with the RGB camera and tracked to improve and simplify the monitoring.
  • Gross movement as used herein means unified, global and/or rigid movement of the area of interest. Gross movement may include one or more of translation and rotation of the area of interest. For example, if the area of interest is on the arm, gross movement would be movement of arm.
  • the operation of the end effector is temporarily paused and the tattooing path is redefined (block 660).
  • Operation of the system may be resumed after a pause.
  • computing device will use the ink already tattooed on the skin a landmark (or a set of landmarks) based on which a new path may be generated.
  • the tattoo process may be initiated over an existing tattoo line near an end point of the previous path to obtain a smoother transition line.
  • the imaging unit in addition to monitoring gross movement of the area of interest, the imaging unit additionally monitors warping of the area of interest, e.g. relative movement within the area of interest due to the elasticity of the skin (block 665). Warping may occur due to fidgeting, twitching, muscle contraction, as well as due to movement of other body parts other than the area of interest.
  • warping when warping is identified, e.g. warping beyond a pre-defined warping threshold (block 670), the tattoo path generated is updated to accommodate for the detected warping (block 640).
  • the textured map is updated and the tattoo path is regenerated based on the updated textured map. As long as no warping and no gross movement is identified, operation of the end effector continues until the tattoo is completed.
  • the present inventors have found that inaccuracies in applying the tattoo may occur due to warping and that by monitoring the warping and adapting the movement path, improved accuracy of the final tattoo on the skin may be achieved.
  • FIG. 8 is a simplified flow chart of an example method to update the path of the end effector based on detected movement in the area of interest.
  • one or more transformations may be defined between one or more previous objects and a current object as system 100 is tattooing an area of interest.
  • An object refers herein to a three dimensional model of the area of interest as generated from imaging device 30.
  • Previous objects are three dimensional models generated from previous frames and a current object refers to a three dimensional model representing a current state of the area of interest.
  • an initial transformation 820 between one or more previous objects and a current object may be computed in two dimensional space based on real-time RGB image data in conjunction with the per-pixel depth data.
  • two dimensional tracking algorithms that may optionally be applied include a discriminative correlation filter or keypoint based object tracking algorithm.
  • initial transformation 820 may be used to initialize a rigid registration algorithm 825 that provides a rigid transformation 830.
  • the rigid registration algorithm tracks gross movement (or rigid movement) of the area of interest in real time as if the area is a single non-deformable object. This transformation may be applied globally (equally for all points) 835 to all the points in the previous object. Based on global transformation 835 a coarse correspondence 840 may be obtained.
  • further tracking is performed to also track warping, e.g. non-rigid registration between one or more previous objects and a current object.
  • output from the coarse correspondence provides input to the non-rigid registration algorithm 845.
  • Non-rigid registration algorithm 845 defines a new transformation 850 that takes into account warping.
  • New transformation 850 is a dense, e.g. per- point correspondence and includes N transformations where N is the number of points used in a previous object.
  • each point or each group of points in one or more previous objects 810 is assigned a corresponding point in current object 815.
  • the dense transformation is adapted to a missing data scenario since imaging device 30 may only track an area of interest from specific angle and therefore has missing data. Alternatively, the missing data may be inferred.
  • additional information is considered when performing the dense transformation 855.
  • the global transformation 835 is used.
  • one or more machine commands are used 865, e.g. commands based on stored three dimensional models of the human body, muscles and/or skin as models of tracking of the breathing cycle of the person receiving the tattoo. Based on the rigid and non-rigid transformation, an updated or corrected path is generated providing updated commands 860 for operating the end effector.
  • FIG. 9 is a simplified flow chart of an example user interactive method to control piercing rate of the automated tattooing system in accordance with some example embodiments.
  • a set of instructions for an automated tattooing system is generated (block 905) and based on the generated set of instructions an estimated time of completion is computed and displayed (block 910).
  • the estimated time computed may take into account a plurality of parameters including for example, the tattoo path, the body part, mechanical restrictions of the robotic arm, size of the tattoo and orientation of the tattoo on the body part.
  • the automated tattooing system is operated based on the instructions.
  • the instructions may include a defined piercing rate of the needle as the end effector moves in the desired path (block 915).
  • a person receiving the tattoo may interface with the user interface to provide instruction to adjust the piercing rate during the automated tattooing process (block 920). For example, a person may elect to reduce the piercing rate if the piercing is too painful or increase the piercing rate if the person has a higher threshold for pain and prefers speeding up the tattooing process.
  • the system may gradually or immediately alter the piercing rate based on commands provided (block 925) and may adjust the estimated time of competition displayed based on the new piercing rate selected.
  • FIG. 10B is an example graphical user interface to provide input during the tattooing process respectively, both in accordance with some example embodiments.
  • a GUI 320 includes a window 380 that displays a video of the area of interest being tattooed based on output from an RGB camera of the automated tattooing system.
  • GUI 320 may also include a scroll bar 365 with which a user may choose to increase or decrease a piercing rate of the automated tattooing system.
  • An estimated time of completion may be displayed in 370 and may be updated based on changes in the piercing rate.
  • GUI additionally includes a selection button 365 that immediately halts operation of the automated tattooing system when pressed.
  • the system stores information defining last location of the piercing needle so that the tattooing process may be subsequently resumed.
  • FIGS. 11A and 1 IB is an example tattooing tip device with cartridge shown in two different operative states, both in accordance with some example embodiments.
  • inking head 550 includes a reservoir 470 that collects ink delivered through a flow channel 480 feeding into inking head 550 to reservoir 470.
  • flow through flow channel 480 and into reservoir 470 may be controlled.
  • a distal end 562 of piercing needle 560 is oscillated to move in and out of reservoir 470 during a tattooing process and collect a dose amount of ink over each period of oscillation.
  • reservoir 470 includes a collection area 475 that is configured to contain at least a portion of ink 70 within reservoir 470 while inking head 550 may be tip over (FIG. 1 IB). Collection area 475 may prevent wasting ink as well as soiling a working area due ink 70 pouring out.
  • FIGS. 12A and 12B is an example tattooing tip device with cartridge shown in two different operative states, both in accordance with some example embodiments.
  • inking device 550 includes a piercing tattoo needle 560 that receives a controlled flow of ink 70 from a dedicated cartridge 540.
  • ink 70 is stored in a cartridge 540 under an applied pressure and is dispensed in a controlled dose through a valve 542 when a protruding element 563 that moves together with needle 560 physically engages valve 542.
  • needle 560 driven in an up and down motion (along a longitudinal axis of the needles) during operation of inking head 550.
  • valve 542 is positioned to engage protruding element 563 while needle recedes into tube 565 during each oscillation cycle of needle 560. In this manner dose amount of ink may be provided to the needle for each piercing action.
  • more than one cartridge 540 is operatively engaged with a dedicated triggering element 563, e.g. more than one triggering element 563 may move together with needle 560.
  • FIGS. 13 A AND 13B are an example tattooing tip and an example block of tattooing tips respectively, both in accordance with some example embodiments.
  • a tattoo needle 560 may receive ink via a plurality of tubes 565 that controllably stream ink through a conduit or nozzle 567 formed in a neck portion of needle 560 leading toward a tip 569 portion of needle 560 that is configured to penetrate the skin.
  • each of plurality of tubes 565 may be fluidly connected to a different cartridge and may supply a different color ink to a tip end of needle 569. Dispensing of each of the plurality of colors may be controlled by inking head 50 based on commands provided from computing device 15.
  • one or more of tubes 565 includes cleaning fluid to flush out residue ink prior to switching to a different color.
  • a plurality of tubes 565 may selectively direct ink toward conduit 567.
  • ink from more than one tube is concurrently dispensed to generate new colors.
  • the up and down motion of the needle mixes the ink received in conduit 567.
  • a rate at which ink is streamed into conduit 567 is defined based on movement of end effector 40 and frequency of oscillation of needle 560.
  • a tip end 551 (FIG. 2) includes an array 580 of needles 560, e.g. a one dimensional or two dimensional array of needles 560.
  • one or more needles may be multicolored needles that are configured to receive ink from a plurality of tubes 565.
  • the array 570 may include different shaped tips 569.
  • a portion of needles 560 are retracted into a housing block 570 while not in use.
  • Tattoo artists are known to use their fingers to stretch the skin around the tattooed area.
  • the amount of stretching is determined by mere feel and is based on the experience of the tattoo artist.
  • Manual stretching may not be uniform.
  • different areas of the skin have different mechanical properties, e.g. different elasticity and therefore it may be difficult to manually apply uniform stretching.
  • FIGS. 14A and 14B are an example drawing and an example image respectively of a stationary skin stretching device configured to be used with an automated tattooing device in accordance with some example embodiments.
  • a stationary stretching mechanism 710 is clamped on a body part configured to be tattooed for stretching the skin with a strap.
  • a pair of stationary stretching mechanisms 710 is used and the tattoo is applied between the pair.
  • stationary stretching mechanism 710 includes a roller 720 and a ratchet 730 that controls rotation of roller 720.
  • the pair of rollers 720 may be rolled in opposite directions to stretch the skin therebetween.
  • a surface of the roller is formed from high friction material.
  • roller includes a probe 725 that extends from roller 720 to enhance the stretching.
  • FIG. 15 is simplified schematic drawing of an example stretching device included in an end effector of an example automated tattooing system in accordance with some example embodiments.
  • a stretching device 750 is included on an end effector 50.
  • stretching device 750 includes three rods 755 or more extending from a base 775 and spread at substantially equal angles from base 775.
  • an angle at which one or more of rods 755 extends from base 775 may increase, e.g. the rod may pivot, against an elastic force provided by a spring damping system 770 and/or a spring integrated in a hinged connection 776.
  • Base 775 may be fixedly mounted around inking device 550 with tip end 551 positioned between rods 755.
  • each of rods 755 is connected to base 775 with a spring damping system 770.
  • one or more of rods 755 also function as a contact distance sensor to detect a distance between tip end 551 and the skin surface.
  • an angle sensor 771 is positioned with respect to each of rods 755 to sense angles of the rods with respect to the tip end 551 so that the distance from surface is calculated based on the detected angles.
  • distance is calculated from the geometry of the rod position with respect to the measured angles.
  • one or more of rods 755 also function as and/or is integrated with a tension sensor 773 to sense skin tension applied the skin surface with the one or more rods.
  • a tension sensor 773 to sense skin tension applied the skin surface with the one or more rods.
  • tips 765 of rods 755 may be formed with a low friction material, e.g. Teflon or may include a roller or ball bearing.
  • data from image device 30 may be accumulated in a central database and may provide accumulating data for classification of body parts that have been modeled and tracked over a tattooing process from different sessions of a same system and/or from different systems.
  • Data may be stored for example in cloud memory and accessed remotely.
  • the accumulated data may be used to improve surface tracking by applying prior knowledge of the feasible movement for this part.
  • Tattoos Exchange Platform TEP
  • the automated tattooing system is associated with and/or includes a TEP.
  • a TEP includes a library of tattoo designs created by different artists.
  • the artist may upload their tattoo designs and users may access the designs through an internet website and/or a mobile application.
  • information about each design including time to completion may be posted along with the design.
  • an Artist may limit the number of users or instances that their design is used by an automated tattooing system.
  • a selected tattoo may be virtually manipulated as described in reference to FIG. 6 and 10A using the TEP and the machine instructions for generating the tattoo may also be generated using this platform.
  • the TEP may access a local three dimensional camera at the user end and provide an augmented reality view of the tattoo on a selected body part as described for example in reference to FIG. 6 and FIG. 10A.
  • the TEP may display the selected tattoo on a body part model stored in memory, e.g. in a central database.

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Abstract

Système de tatouage automatisé comprenant un bras robotique comportant un organe terminal effecteur, une tête d'encrage fixée à un organe terminal effecteur du bras robotique, un dispositif d'imagerie, une interface utilisateur et un dispositif informatique. Le dispositif informatique est configuré pour commander une trajectoire du bras robotique sur la base de données d'image fournies par le dispositif d'imagerie et de données d'entrée d'utilisateur. La tête d'encrage distribue de manière réglable un pigment pour tatouer une partie du corps. Le dispositif d'imagerie est séparé du bras robotique, il est fixe et fournit une imagerie tridimensionnelle. L'interface utilisateur comprend un dispositif d'affichage électronique et un dispositif d'entrée utilisateur, affiche des données de sortie du dispositif d'imagerie et reçoit des données d'entrée d'utilisateur.
PCT/IL2020/050237 2019-03-03 2020-03-03 Système automatisé de tatouage et procédé WO2020178818A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11376407B2 (en) 2019-07-25 2022-07-05 Blackdot, Inc. Robotic tattooing systems and related technologies

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008085758A2 (fr) * 2007-01-08 2008-07-17 Restoration Robotics, Inc. Procédés et dispositifs d'application et d'élimination de tatouages
EP2695639A1 (fr) * 2012-08-09 2014-02-12 Deutsches Zentrum für Luft- und Raumfahrt e.V. Procédé et dispositif destinés à l'application ciblée d'un jet de liquide

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008085758A2 (fr) * 2007-01-08 2008-07-17 Restoration Robotics, Inc. Procédés et dispositifs d'application et d'élimination de tatouages
EP2695639A1 (fr) * 2012-08-09 2014-02-12 Deutsches Zentrum für Luft- und Raumfahrt e.V. Procédé et dispositif destinés à l'application ciblée d'un jet de liquide

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11376407B2 (en) 2019-07-25 2022-07-05 Blackdot, Inc. Robotic tattooing systems and related technologies
US11547841B2 (en) 2019-07-25 2023-01-10 Blackdot, Inc. Robotic tattooing systems and related technologies
EP4004809A4 (fr) * 2019-07-25 2023-09-06 Blackdot, Inc. Systèmes robotisés de tatouage et technologies associées
US11839734B2 (en) 2019-07-25 2023-12-12 Blackdot, Inc. Robotic tattooing systems and related technologies
US11890441B2 (en) 2019-07-25 2024-02-06 Blackdot, Inc. Robotic tattooing systems and related technologies

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