Robotic tattooing systems and related technologies

A tattoo apparatus for applying a tattoo, comprising:

• a tattoo device having at least one needle;
• a target site analyzer configured to obtain information about a subject's skin;
• and
• a controller that executes programming which causes the tattoo apparatus to:
• receive the obtained information from the target site analyzer,
• generate a protocol for applying at least a portion of a tattoo based on the received information and a tattoo design, wherein the protocol includes
• puncture setting data obtained by detecting a skin puncture event and identifying a target layer of the subject's skin based on the detected skin puncture event, wherein the puncture setting data is used for controlling piercing depth to position a tip of the at least one needle in the identified target layer to apply ink, and/or
• puncture location data for selecting individual puncture sites along the skin to inject ink, wherein the puncture location data is obtained from analysis of skin position and skin deformation, and
• robotically apply, via the tattoo device, the portion of the tattoo by injecting ink in the target layer at the selected individual puncture sites according to the protocol.