Tattooing machine, method and use of a tattooing machine for introducing colour pigments into human skin by means of a needle

Abstract

The invention relates to a tattooing machine (1) comprising a rotary drive device (10) which drives a drive shaft (11). Said drive shaft is coupled to a transmission device (20) which in turn is connected to a needle-holding device (30). The needle-holding device holds the needle (3). The needle-guiding device (40) is designed to guide the needle-holding device along the longitudinal axis between reversal points (U1) and (U2). During the forward movement, the needle pierces the skin (2) and, during the return movement from the second reversal point to the first reversal point, the needle is withdrawn from the skin. These movements are repeated and are controlled by the rotary drive device. The control device operates the machine according to a first motion profile. In the first motion profile, a rotational speed and / or an actual angular velocity of the rotary drive device can be varied within a period, the successive periods of the first motion profile having the same duration. The invention also relates to the use of the tattooing machine and to a method using the tattooing machine.

Description

[0001] Eisenführ Speiser

[0002] Hamburg, March 20, 2026

[0003] Our reference: LH 498-02WO PCU / PCU

[0004] Provider / owner: Leebo Engineering GmbH

[0005] Official file number: Subsequent registration

[0006] Leebo Engineering GmbH

[0007] Bandelowstraße 3, 14612 Falkensee, Germany

[0008] Tattoo machine, method, use of a tattoo machine and control unit for introducing color pigments into human skin with a needle

[0009] The invention relates to a tattooing machine for introducing color pigments into human skin using a needle. The invention further relates to a use of the tattooing machine. It further relates to a method for introducing color pigments into human skin using a needle. The invention also relates to a control unit for controlling a tattooing machine for introducing color pigments into human skin using a needle.

[0010] A tattoo machine can be used to introduce color pigments into human skin. These pigments can be used for permanent makeup or as a tattoo. In permanent makeup, the pigments are inserted into the dermis, the outermost layer of skin (approximately 0.3 mm to 0.7 mm deep). In this layer, the pigments are typically broken down over a period of 2 to 5 years. In tattooing (in the narrower sense), the pigments are usually injected with a needle beneath the epidermis (the outermost layer of skin) into the dermis (the layer beneath), to a depth of approximately 1 mm to 2 mm. When the pigments are inserted into the dermis, they generally remain in the skin for decades because, due to their size, they cannot be broken down there, or only very slowly.

[0011] *20260222293* For the purposes of this text, tattooing is understood broadly. Tattooing in this sense encompasses both the introduction of color pigments into the epidermis (tattooing in the narrower sense) and the introduction of color pigments into the dermis (in the sense of permanent makeup). Accordingly, the term "tattoo machine" is also understood broadly here; that is, a tattoo machine in this sense includes both tattoo machines for tattooing in the narrower sense and machines for applying / inserting permanent makeup.

[0012] For tattooing, the color pigments are dissolved in a carrier fluid, which together form a tattoo ink.

[0013] The result of tattooing is called a tattoo or, colloquially, a tattoo, or permanent make-up.

[0014] Tattoo machines are generally divided into two basic types: the coil machine and the rotary machine, both of which introduce color pigments into the skin using a needle.

[0015] In a coil machine, a striking arm, also called an armature lever, is set in motion by the electromagnetic action of two coils. A contact spring is essential for this; together with an adjustable contact point, it controls the flow of current to the coils. The alternating interruption and restoration of the circuit creates the characteristic rapid back-and-forth movement of the armature lever between a first and second reversal point. The coil machine is typically powered by an external power supply consisting of a power adapter, a foot switch, and connecting cables. The power adapter regulates the voltage and current, while the foot switch allows the coil machine to be switched on and off.

[0016] The reciprocating motion of the armature lever is further assisted by spring plates, which are usually made of flexible metal. These spring plates regulate the return force of the armature lever, thus allowing the impact force to be adjusted. A needle bar with a needle is attached to the armature lever, which, through a corresponding translational reciprocating motion, introduces the color pigments into the skin. In this basic type, the striking arm therefore functions as a needle actuation unit. The needle is held within a grip unit perpendicular to the direction of movement and guided to execute the translational movement. The coil machine thus has the advantage that the impact force of the striking arm can be variably adjusted. However, the comparatively complex construction of the coil machine makes it prone to breakdowns and requires regular maintenance.Technical expertise is required to carry out this work.

[0017] In a rotary machine, the rotary motion of an electric motor is transferred to a striking arm via an eccentric disc and a connecting rod. The eccentric disc and connecting rod translate the electric motor's rotary motion into a linear motion. Also in a rotary machine, a needle bar with a needle, which introduces the color pigments into the skin, is attached to the striking arm. Accordingly, this striking arm also functions as a needle actuation unit. Rotary machines have the disadvantage that the impact force, i.e., the speed or acceleration of the striking arm, is not adjustable. This limits the range of applications for rotary machines. In a rotary machine, as in a coil machine, the needle is held within a grip unit perpendicular to the direction of movement and guided to execute the translational movement of the needle.

[0018] Both basic types of tattoo machines have the disadvantage that they are generally not suitable for different applications, skin types, and areas of the body. Consequently, users of tattoo machines either use a machine specifically tailored to the intended application, skin type, and area, or they must manually adjust their existing machine for each specific scenario, skin type, and area. Crucial factors for each application, skin type, and area include the speed at which the needle moves between the first and second reversal points, the needle stroke (i.e., the distance the needle travels between the first and second reversal points), and / or the force or impact with which the needle delivers the ink pigment into the skin.Furthermore, art styles and the working methods of tattoo machine users, also called tattoo artists or permanent make-up artists, influence the requirements for the tattoo machine.

[0019] The invention therefore aims to provide a tattoo machine that overcomes or reduces one or more of the disadvantages addressed above and / or improves upon existing solutions. In particular, the invention aims to provide a tattoo machine that enables more efficient and cost-effective application of color pigments into human skin and, at the same time, allows for a longer lifespan and lower maintenance.

[0020] The problem is solved according to the first aspect of the invention according to claim 1.

[0021] The invention relates to a tattooing machine for introducing color pigments into human skin using a needle, in particular for introducing color pigments into the dermis and / or epidermis of human skin. The tattooing machine comprises a rotary drive device for moving the needle between a first reversal point and a second reversal point that differs from the first reversal point. During operation of the tattooing machine, the needle performs a repetitive piercing motion between the first and second reversal points according to at least one motion profile. The piercing motion comprises a forward movement from the first reversal point to the second reversal point, during which the needle penetrates the skin during tattooing, and a backward movement from the second reversal point to the first reversal point, during which the needle exits the skin during tattooing.

[0022] A motion profile of the at least one motion profile has several successive periods, each characterized by one or more values ​​of at least one of the following motion profile parameters: a period duration of the rotary drive device, a forward motion duration of the forward motion, a reverse motion duration of the reverse motion, a forward stroke of the needle holder device between the first reversal point and the second reversal point in the forward motion, a reverse stroke of the needle holder device between the first reversal point and the second reversal point in the reverse motion, a forward speed function of the needle holder device between the first reversal point and the second reversal point in the forward motion, a reverse speed function of the needle holder device between the first reversal point and the second reversal point in the reverse motion, and a rotational speed of the rotary drive device.

[0023] The tattoo machine further comprises a gear unit coupled to a drive shaft of the rotary drive unit and capable of being coupled to the needle via a needle holder for moving the needle between the first and second reversal points. This gear unit preferably converts the rotary motion of the drive shaft into a translational motion that moves the needle between a first and a second reversal point. The tattoo machine also comprises a needle guide configured to guide the needle holder along a longitudinal axis between the first and second reversal points. The needle consists, for example, of a needle tip that penetrates the skin and a needle shaft that receives the driving force from the gear unit. The needle shaft is guided, for example, in a needle guide.The needle guide device, for example, also serves as the needle-side device for attaching the needle to the tattoo machine. The tattoo machine also includes a control device that is linked to the rotary drive device via a signal connection.

[0024] The gear mechanism, coupled to the drive shaft of the rotary drive unit, transmits the motion to the needle guide, which guides the needle along a longitudinal axis between the reversal points. The needle guide ensures that the needle is guided stably and precisely, further increasing the accuracy of the tattoo.

[0025] The control device is designed to operate the rotary drive device in a first motion profile of at least one motion profile during the operation of the tattoo machine. Within this first motion profile, the rotational speed and / or angular velocity of the rotary drive device can be varied within a period, with the period duration of successive periods of the first motion profile being identical. For example, the machine changes one or more operating parameters, resulting in a variation of the motor's rotational speed within a revolution. For instance, a load-dependent motion profile is established that differs from a motion profile with uniform rotary motion but is not predefined in its form. For example, a motion profile defined by the user or manufacturer is selected as the operating mode.For example, the sensors continuously or at specific time intervals detect the rotational speed and position of the motor and adjust them accordingly, so that a preset movement profile is followed.

[0026] The rotational speed is the reciprocal of the period, or time, required for the needle or drive mechanism to complete a full rotation from the first turning point, through the second turning point, and back to the first turning point. The instantaneous angular velocity (IST) refers to the instantaneous speed of the drive at any given point along a full rotation. The control device allows for real-time adjustments to the movement profiles. This control offers the advantage of adapting the tattoo machine to different skin types and tattooing requirements. The ability to vary the rotational speed or IST angular velocity of the rotary drive within a period enables precise control over the needle movement. This contributes significantly to improving tattoo quality by optimizing needle penetration depth and speed.The ability to switch between different movement profiles also offers the advantage that the tattoo artist can adapt the machine to their individual working methods and techniques.

[0027] According to a preferred embodiment of the tattoo machine, the control device is designed to switch the rotary drive device during operation of the tattoo machine from a first motion profile to a second motion profile different from the first motion profile, wherein the first motion profile differs from the second motion profile in at least one value with respect to the motion profile parameters and the value of the period of the first motion profile corresponds to the value of the period of the second motion profile.

[0028] The control device is specifically designed to dynamically control the rotary drive device, enabling switching between different motion profiles. This allows for flexible adaptation of the motion profiles to the specific requirements of the tattooing process. For example, the first motion profile can be used for applying contour lines, and the second motion profile for filling in areas.

[0029] The first motion profile differs, for example, in one value with respect to the following motion profile parameters: a forward motion duration, a reverse motion duration, a forward stroke of the needle holder between the first and second reversal points in the forward motion, a reverse stroke of the needle holder between the first and second reversal points in the reverse motion, a forward speed function of the needle holder between the first and second reversal points in the forward motion, and a reverse speed function of the needle holder between the first and second reversal points in the reverse motion. According to a preferred embodiment of the tattoo machine, in the first motion profile, the value of the forward motion duration is smaller than the value of the reverse motion duration.This means that the needle penetrates the skin faster and is withdrawn more slowly. Alternatively, in the first motion profile, the integral of the forward velocity function is smaller than the integral of the backward velocity function. This means that the needle accelerates more slowly during the forward movement and more quickly during the backward movement.

[0030] This is particularly advantageous because it allows the color pigments to be introduced into the skin more efficiently, resulting in less skin irritation. This adjustment of the speed profiles helps to minimize stress on the skin.

[0031] According to a preferred embodiment of the tattoo machine, it further comprises a sensor unit for detecting the actual angular velocity and / or rotation angle of the drive device. The sensor unit is coupled to the control device via a signal connection.

[0032] The sensor unit records parameters such as the rotational speed of the drive shaft, the position of the needle, the speed of the needle movement and the force exerted on the needle.

[0033] The sensor unit enables monitoring and control of the drive unit's movements by collecting data on the current angular velocity and rotation angle. This data is transmitted to the control unit, which then adjusts the rotary drive unit according to the detected parameters. This results in improved control over the needle's movement profile. The sensor unit ensures that the needle movements precisely follow the predefined movement profiles by detecting deviations in real time and enabling corrections.

[0034] Furthermore, the sensor unit can also be used to monitor environmental conditions such as temperature and humidity in order to optimize the operating conditions of the tattoo machine. Another advantage of the sensor unit is the possibility of data storage and analysis, which allows for a subsequent evaluation of the tattooing process and can contribute to the improvement of future tattoos. According to a preferred embodiment of the tattoo machine, the drive device includes the sensor unit, or the drive device forms the sensor unit. Alternatively, the sensor unit is a separate unit from the drive device.

[0035] A sensor unit integrated into the drive unit offers the advantage of a more compact design and direct monitoring of the drive unit, resulting in a faster and more accurate response to changes in operating conditions. A separately designed sensor unit, on the other hand, allows for easier maintenance and replacement without requiring any modifications to the drive unit. The sensor unit is connected to the control unit, typically via wired or wireless communication.

[0036] According to a preferred embodiment of the tattoo machine, the rotary drive device comprises or is an electric motor. The electric motor serves as a drive unit that, through the gearing device, sets the needle of the tattoo machine into an oscillating motion to introduce color pigments into the skin.

[0037] An electric motor enables precise and rapid control of the needle's movement. Furthermore, compared to other drive types, such as pneumatic or hydraulic drives, an electric motor requires less maintenance and is more reliable. In addition, the electric motor allows for very rapid changes in power output.

[0038] Another advantage is the possibility of electronically controlling the electric motor, which allows for flexible adjustment of its operating parameters. This includes varying the rotational speed or angular velocity within a given period. Using an electric motor as the rotary drive also allows the tattoo machine to be designed more compactly and lightweight, making it easier for the tattoo artist to handle and reducing fatigue during longer tattooing sessions. An electric motor also produces less vibration and noise compared to other drive types. Finally, using an electric motor allows the tattoo machine to be powered by rechargeable batteries, such as accumulators, increasing the tattoo artist's mobility.

[0039] According to a preferred embodiment of the tattoo machine, the rotary drive device is arranged relative to the needle guide device such that an axis of rotation of the drive shaft of the rotary drive device intersects the longitudinal axis, or that the axis of rotation extends with an offset to the longitudinal axis.

[0040] According to a preferred embodiment of the tattoo machine, the transmission device comprises or is a crank mechanism and / or cam mechanism and / or a swashplate.

[0041] A crank mechanism converts the rotary motion of the drive shaft into a linear motion, which is necessary for the forward and backward movement of the needle. This conversion is particularly advantageous because it ensures a smooth and controlled movement of the needle.

[0042] A cam mechanism allows for more complex motion profiles by controlling the needle's movement along a predetermined curve. This particularly helps improve the precision and consistency of the tattoo by enabling fine-tuning of the needle's speed and stroke during the tattooing process.

[0043] A swashplate offers the advantage of a compact design and can enable very precise control of the needle movement by converting the wobble motion into a linear motion.

[0044] According to a preferred embodiment of the tattoo machine, it includes an electrical energy storage device and / or a mains connection.

[0045] An electrical energy storage device, such as a rechargeable battery, allows for cordless operation of the machine, improving the tattoo artist's freedom of movement and reducing the risk of cable tangling or damage. A mains connection, on the other hand, ensures a continuous power supply, enabling longer tattooing sessions without interruption for battery changes or charging.

[0046] According to a preferred embodiment of the tattoo machine, it comprises a needle arranged in the needle holder of the tattoo machine for introducing color pigments into the skin of a person.

[0047] The needle holder serves as an element that securely holds the needle and enables its precise movement. By positioning the needle within the needle holder, stable and controlled guidance of the needle along its longitudinal axis between reversal points is ensured. For example, the needle holder is a needle module consisting of a needle holder, a needle guide, a needle shaft, and the needle itself.

[0048] The needle holding device is coupled to the gear unit, which is connected to the drive shaft of the rotary drive unit. This coupling ensures that the needle is moved in a repeated piercing motion between the reversal points.

[0049] The control device, which is linked to the rotary drive via signal technology, allows for precise control of the needle's movement profiles. This includes varying the rotational speed or angular velocity of the rotary drive within a period, enabling the needle movement to be adapted to different skin types and tattooing requirements.

[0050] According to a preferred embodiment of the tattoo machine, it includes a stroke adjustment unit for setting the forward stroke and / or reverse stroke. For example, the stroke adjustment unit is designed as a crank arm, the length of which is variable.

[0051] The ability to individually adjust the forward and reverse strokes allows for precise control of the needle's penetration depth and subsequent retraction. This is particularly advantageous for accommodating different skin types and tattooing techniques, as the penetration depth and needle movement speed can vary depending on skin characteristics and the desired tattoo result. The stroke adjustment unit can be operated mechanically or electronically and is specifically connected to the tattoo machine's control unit.

[0052] In a second aspect, the invention relates to the use of a tattoo machine according to the invention. The tattoo machine comprises a rotary drive device that moves the needle between a first and a second reversal point, the needle performing a repetitive piercing motion. This movement is controlled by a control device configured to vary the rotational speed of the rotary drive device within one period. The gear unit is coupled to the drive shaft of the rotary drive device. The needle guide device ensures that the needle holder is movable along a longitudinal axis. The control device is coupled to the rotary drive device via a signal connection.

[0053] The tattoo machine according to the invention is used in particular for introducing color pigments into the dermis of human skin. Through the precise control of the needle's movement, the tattoo machine can precisely introduce color pigments into the dermis.

[0054] The ability to vary the rotational speed of the rotary drive device within a single cycle allows for finer control over the penetration depth and needle speed, resulting in more even and precise pigmentation. This is particularly important for ensuring a uniform distribution of the color pigments in the dermis and reducing the risk of skin damage.

[0055] The tattoo machine according to the invention is also used, in particular, for introducing color pigments into the epidermis of human skin. Through the precise control of the needle's movement and the ability to accurately adjust the depth to which the needle penetrates the skin, the tattoo machine can precisely introduce color pigments into the epidermis.

[0056] In a third aspect, the invention comprises a method for introducing color pigments into human skin. The method comprises, in one step, moving the needle between a first reversal point and a second reversal point by means of a rotary drive device, such that the needle performs a repetitive pricking motion according to at least one motion profile, wherein the pricking motion comprises a forward movement from the first reversal point to the second reversal point, during which the needle penetrates the skin, and a backward movement from the second reversal point to the first reversal point, during which the needle exits the skin.

[0057] The method further comprises controlling the movement of the needle by means of at least one motion profile comprising several successive periods, each period being characterized by at least one of the following motion profile parameters: period duration of the rotary drive device, forward movement duration of the forward movement, reverse movement duration of the reverse movement, forward stroke of the needle between the first reversal point and the second reversal point in the forward movement, backward stroke of the needle between the first reversal point and the second reversal point in the reverse movement, forward velocity function of the needle between the first reversal point and the second reversal point in the forward movement, and backward velocity function of the needle between the first reversal point and the second reversal point in the reverse movement.

[0058] Furthermore, the method includes guiding the needle holding device along a longitudinal axis between the first reversal point and the second reversal point by means of a needle guide device.

[0059] The method further comprises controlling the rotary drive device by a signal-linked control device, such that the rotary drive device is operated in a first motion profile of the at least one motion profile, wherein the rotational speed of the rotary drive device is variable within a period and the period duration of the successive periods of the first motion profile is identical.

[0060] In a fourth aspect, the invention comprises a control unit for controlling a tattoo machine according to the invention. The tattoo machine itself includes a rotary drive device that moves the needle between two reversal points, the needle performing a repetitive piercing motion. The control unit is coupled to the rotary drive device via a signal and enables the variation of the rotary drive device's rotational speed within one period of a motion profile. The control unit is designed to operate the rotary drive device in one or more motion profiles, with the period duration of successive periods being identical.

[0061] For the advantages, design variants and design details of these further aspects of the invention and its further developments, reference is also made to the preceding description of the corresponding features of the tattoo machine.

[0062] Embodiments of the invention are now described below with reference to the drawings. These drawings are not necessarily intended to represent the embodiments to scale; rather, where this is helpful for clarification, the drawings are presented in a schematic and / or slightly distorted form. With regard to additions to the teachings directly apparent from the drawings, reference is made to the relevant prior art. It should be noted that numerous modifications and changes concerning the form and detail of an embodiment can be made without deviating from the general idea of ​​the invention. The features of the invention disclosed in the description, the drawings, and the claims can be essential for the further development of the invention, both individually and in any combination.Furthermore, the invention encompasses all combinations of at least two of the features disclosed in the description, the drawings, and / or the claims. The general idea of ​​the invention is not limited to the exact shape or detail of the preferred embodiments shown and described below, nor is it limited to an object that would be restricted compared to the object claimed in the claims. Where specified dimensioning ranges are given, values ​​lying within the stated limits are also disclosed as limit values ​​and may be used and claimed as desired. For the sake of simplicity, identical or similar parts, or parts with identical or similar functions, are used below as reference numerals.

[0063] Further advantages, features and details of the invention will become apparent from the following description of the preferred embodiments and from the drawings; these show in:

[0064] Fig. 1a, 1b: a schematic side view of a tattoo machine in a preferred embodiment at a first and second reversal point;

[0065] Fig. 2a, 2b: a schematic top view of the tattooing machine shown in Figures 1a, 1b at the first and second reversal points;

[0066] Fig. 3: a schematic representation of a repetitive thrusting motion;

[0067] Fig. 4: a schematic representation of different movement profiles;

[0068] Fig. 5: a schematic representation of a motion profile; and

[0069] Fig. 6: a schematic flowchart of a process for introducing color pigments into the skin of a person.

[0070] Figures 1a and 1b show a schematic side view of a tattoo machine 1 for introducing color pigments 4 into the skin 2 of a person.

[0071] The tattoo machine 1 consists of a rotary drive device 10, which drives a drive shaft 11. This drive shaft 11 is coupled to a gear unit 20, which in turn is connected to a needle holder 30. The needle holder 30 holds the needle 3, which is used to introduce the color pigments 4 into the skin 2. The needle 3 moves along a longitudinal axis L between a first reversal point U1 and a second reversal point U2. This movement is controlled by the rotary drive device 10 and the gear unit 20.

[0072] The needle guide device 40 is designed to guide the needle holder 30 along the longitudinal axis L between the reversal points U1 and U2. In the forward movement V, the needle 3 penetrates the skin 2 from the first reversal point U1 to the second reversal point U2, as shown in Figure 1a, and in the backward movement R, it exits the skin 2 from the second reversal point U2 to the first reversal point U1, as shown in Figure 1b. These movements are repetitive and are controlled by the rotary drive device 10 and the gear unit 20.

[0073] The rotary drive device 10 can include an electric motor or be an electric motor itself. The arrangement of the rotary drive device 10 relative to the needle guide device 40 can be designed such that the axis of rotation D of the drive shaft 11 intersects the longitudinal axis L or extends with an offset O to the longitudinal axis L.

[0074] The transmission device 20 may comprise a crank mechanism, a cam mechanism, or a swashplate, or may itself be one of these devices. The tattoo machine 1 may additionally include an electrical energy storage device and / or a mains connection.

[0075] Figures 2a and 2b show a schematic top view of a tattoo machine 1 from Figures 1a and 1b, designed for introducing color pigments 4 into the skin 2 of a person. The tattoo machine comprises a rotary drive device 10, a drive shaft 11, a gear device 20, a needle holder 30, and a needle guide device 40.

[0076] The rotary drive device 10 is equipped with a drive shaft 11 that performs a rotary motion. This motion is converted into a linear motion of the needle 3 by the gear device 20. The gear device is designed to be coupled to the drive shaft 11 and moves the needle 3 between a first reversal point U1 and a second reversal point U2. This motion occurs along a longitudinal axis L. Figures 2a and 2b also show the position of the needle 3 relative to the skin 2. In the forward motion V, the needle 3 penetrates the skin 2, while in the backward motion R, it exits the skin. The forward motion occurs from the first reversal point U1 to the second reversal point U2, while the backward motion occurs from the second reversal point U2 to the first reversal point U1.

[0077] The arrangement of the rotary drive device 10 in relation to the needle guide device 40 is designed such that the axis of rotation D of the drive shaft 11 intersects the longitudinal axis L or extends with an offset O to the longitudinal axis L.

[0078] Figure 3 shows a schematic representation of a repetitive piercing motion. This schematic representation is a diagram illustrating the motion profiles of a tattoo machine. The tattoo machine performs a repetitive piercing motion of the needle between a first reversal point U1 and a second reversal point U2.

[0079] The diagram shows the needle's movement profiles over time t. The forward movement V of the needle, during which the needle enters the skin, is represented by the segment between U1 and U2. The backward movement R, during which the needle exits the skin, is represented by the segment between U2 and U1. The period T of the movement profiles is also shown and includes both the forward movement duration Tv and the backward movement duration TR.

[0080] The forward motion V and the backward motion R are characterized by the respective strokes (Hv and HR) of the needle holding device. These strokes define the amplitude of the needle movement between the reversal points. The forward velocity function Gv and the backward velocity function G of the needle holding device are represented by the slope of the curves in the diagram.

[0081] Figures 4a-4d show schematic representations of different motion profiles. These motion profiles illustrate the movement of needle 3 between a first reversal point U1 and a second reversal point U2. The motion profiles are represented by the velocity of needle 3 along the x-axis, with forward motion V and backward motion R indicated by arrows.

[0082] Figure 4a shows an elliptical motion profile in which the speed of the needle 3 varies continuously during the forward movement V and the backward movement R. This means that the needle 3 experiences uniform acceleration and deceleration both when entering and exiting the skin 2.

[0083] Figure 4b shows a rectangular motion profile in which the velocity of needle 3 remains constant during the forward movement V and the backward movement R. In this profile, needle 3 moves at a uniform velocity from U1 to U2 and back, without acceleration or deceleration. This motion profile is hypothetical, as it assumes an infinitely large acceleration of the needle at the reversal points U1 and U2.

[0084] Figure 4c shows a diamond-shaped motion profile in which the speed of needle 3 varies symmetrically during the forward movement V and the backward movement R. Needle 3 initially accelerates, reaches a maximum speed in the middle of the movement, and then decelerates again before reaching the reversal point.

[0085] Figure 4d shows an asymmetrical motion profile in which the speed of the needle 3 varies differently during the forward movement V and the backward movement R. In this profile, the needle 3 accelerates rapidly when penetrating the skin 2 and gradually decelerates when exiting the skin 2.

[0086] Figure 5 shows another schematic representation of the motion profile of a needle 3 of a tattoo machine 1, which is used to introduce color pigments 4 into the skin 2 of a person. The motion profile shown has a teardrop-shaped contour. During the forward movement, the needle undergoes an acceleration phase before reaching its maximum stroke at the reversal point U2, and then decelerates during the backward movement to return to the reversal point U1. The velocity is highest in the region where the needle enters and exits the skin 2. The velocity of the forward and backward movements is the same; that is, the velocity curve is a reflection across the x-axis.

[0087] Figure 6 shows a schematic block diagram of a method 1000 for introducing color pigments 4 into the skin 2 of a human being, in particular for introducing color pigments 4 into the dermis and / or epidermis of the skin 2 of the human being.

[0088] The procedure consists of four main steps, which can be performed in any order and / or simultaneously. The first step, 1010, describes the movement of the needle between a first reversal point and a second reversal point by means of a rotary drive device. In this step, the needle is moved in a repetitive stitching motion according to at least one motion profile. The stitching motion comprises a forward movement from the first reversal point to the second reversal point, during which the needle penetrates the skin, and a backward movement from the second reversal point to the first reversal point, during which the needle exits the skin.

[0089] The second step 1020 comprises controlling the needle's movement by means of at least one motion profile comprising several successive periods. Each period is characterized by at least one of the following motion profile parameters: period duration of the rotary drive device, forward movement duration of the forward movement, reverse movement duration of the reverse movement, forward stroke of the needle between the first reversal point and the second reversal point in the forward movement, reverse stroke of the needle between the first reversal point and the second reversal point in the reverse movement, forward velocity function of the needle between the first reversal point and the second reversal point in the forward movement, and reverse velocity function of the needle between the first reversal point and the second reversal point in the reverse movement.

[0090] The third step 1030 describes the guiding of the needle holding device along a longitudinal axis between the first reversal point and the second reversal point by means of a needle guide device.

[0091] The fourth step, 1040, comprises controlling the rotary drive device by a signal-linked control device. This control device is configured such that the rotary drive device operates in a first motion profile of at least one motion profile, wherein the rotational speed of the rotary drive device is variable within a period and the period duration of the successive periods of the first motion profile is identical. REFERENCE SYMBOL LIST

[0092] 1 tattoo machine

[0093] 2 skin

[0094] 3 needles

[0095] 4 color pigments

[0096] 10 Rotary drive device

[0097] 11 Drive shaft

[0098] 20 Gearbox device

[0099] 30 Needle holding device

[0100] 40 Needle guide device

[0101] 50 Control device

[0102] 60 sensor units

[0103] BI,2 first and second motion profile O offset

[0104] GR Reverse speed function Gv Forward speed function H Reverse stroke

[0105] Hv forward hub

[0106] R Backward movement T Period

[0107] TR Reverse movement duration

[0108] TV forward movement duration

[0109] U1 first turning point

[0110] U2 second turning point

[0111] V forward movement

[0112] 1000 methods for introducing color pigments into human skin 1010 methods of needle insertion

[0113] 1020 Controlling the movement of the needle

[0114] 1030 Guiding the needle holding device

[0115] 1040 Control of the rotary drive device

Claims

1. CLAIMS 1. Tattooing machine (1) for introducing color pigments (4) into the skin (2) of a person with a needle (3), in particular for introducing color pigments (4) into the dermis and / or epidermis of the skin (2) of a person, comprising: - a rotary drive device (10) for moving the needle (3) between a first reversal point (U1) and a second reversal point different from the first reversal point (U1), wherein the needle (3) performs a repetitive piercing movement in the operation of the tattooing machine (1) between the first reversal point (U1) and the second reversal point (U2) according to at least one movement profile (B1 , B2), wherein the piercing movement o from the first turning point (U1) to the second turning point (U2) is a forward movement (V) in which the needle (3) pierces the skin (2) during tattooing, and o from the second turning point (U2) to the first turning point (U1) is a backward movement (R) in which the needle (3) exits the skin (2) during tattooing, wherein - a movement profile of at least one movement profile (B1 , B2) with several consecutive periods, each characterized by one or more values ​​of at least one of the following movement profile parameters: o a period (T) of the rotary drive device (10), o a forward motion duration (Tv) of the forward motion (V), o a backward movement duration (TR) of the backward movement (R), undo a forward stroke (Hv) of the needle holding device (30) between the first reversal point (U1) and the second reversal point (U2) in the forward movement (V), o a reverse stroke (HR) of the needle holding device (30) between the first reversal point (U1) and the second reversal point (U2) in the reverse movement (R), o a forward velocity function (Gv) of the needle holding device (30) between the first reversal point (U1) and the second reversal point (U2) in the forward movement (V), o a reverse velocity function (G ) of the needle holding device (30) between the first reversal point (U1) and the second reversal point (U2) in the reverse movement (R), and o a rotational speed of the rotary drive device (10), - a gear device (20) which is coupled to a drive shaft (11) of the rotary drive device (10) and which can be coupled to the needle (3) via a needle holding device (30) for moving the needle (3) between the first reversal point (U1) and the second reversal point (U2), - a needle guide device (40) configured to guide the needle holding device (30) along a longitudinal axis (L) between the first reversal point (U1) and the second reversal point (U2), a control device (50) which is coupled to the rotary drive device (10) via signal technology, characterized in that the control device (50) is designed to operate the rotary drive device (10) in a first movement profile (B1) of the at least one movement profile (B1 , B2) during operation of the tattoo machine (1), wherein - in the first motion profile (B1 , B2) within one period a rotational speed and / or an actual angular velocity of the rotary drive device (10) is variable, wherein the period duration (T) of the successive periods of the first motion profile (B1) is identical.

2. Tattoo machine (1) according to the preceding claim 1, wherein the control device (50) is configured to switch the rotary drive device (10) during operation of the tattoo machine (1) from a first motion profile (B1) to a second motion profile (B2) different from the first motion profile (B1), wherein - the first movement profile (B1) differs from the second movement profile (B2) in at least one value with respect to the movement profile parameters and - the value of the period (T) of the first movement profile (B1) corresponds to the value of the period (T) of the second movement profile (B2).

3. Tattoo machine (1) according to one of the preceding claims 1-2, wherein - in the first movement profile (B1) the value of the forward movement duration (TV) is smaller than the value of the backward movement duration (TR), or - an integral of the forward velocity function (V) is smaller than an integral of the backward velocity function (GR).

4. Tattoo machine (1) according to any one of the preceding claims 1-3, comprising a sensor unit (60) for detecting an actual angular velocity and / or a rotation angle of the drive device (10), wherein the sensor unit (60) is coupled to the control device (50) via a signal connection.

5. Tattoo machine (1) according to any one of the preceding claims 1-4, wherein - the drive device (10) includes or forms the sensor unit (60), or - the sensor unit (60) is a unit designed separately from the drive device (10).

6. Tattoo machine (1) according to any one of the preceding claims 1-5, wherein the rotary drive device (10) comprises an electric motor or the rotary drive device (10) is an electric motor.

7. Tattoo machine (1) according to one of the preceding claims 1-6, wherein the rotary drive device (10) is arranged relative to the needle guide device (40) such that - a rotational axis (D) of the drive shaft (11) of the rotary drive device (10) intersects the longitudinal axis (L), or - the axis of rotation (D) extends with an offset (O) to the longitudinal axis (L).

8. Tattoo machine (1) according to any one of the preceding claims 1-7, wherein the transmission device (20) comprises or is a crank gear and / or cam gear and / or a swashplate.

9. Tattoo machine (1) according to any one of the preceding claims 1-8, comprising: - an electrical energy storage device and / or a grid connection.

10. Tattoo machine (1) according to any one of the preceding claims 1-9, comprising: - a needle (3) arranged in the needle holder (30) of the tattoo machine (1) for introducing color pigments (4) into the skin (2) of a person.

11. Tattoo machine (1) according to any one of the preceding claims 1-10, comprising: - a stroke adjustment unit for setting the forward stroke (Hv) and / or reverse stroke (HR).

12. Use of a tattooing machine (1) according to any of the preceding claims 1-11 for introducing color pigments (4) into a dermis of skin (2) of a human being.

13. Use of a tattooing machine (1) according to any of the preceding claims 1-11 for introducing color pigments (4) into an epidermis of skin (2) of a human being.

14. Method (1000) for introducing color pigments (4) into the skin (2) of a human being, in particular for introducing color pigments (4) into the dermis and / or epidermis of the skin (2) of the human being, using a needle (3) of a tattooing machine (1), wherein the tattooing machine (1) is in particular a tattooing machine (1) according to any one of the preceding claims 1-11, comprising the steps: - Method (1010) of the needle (3) between a first reversal point (U1) and a second reversal point (U2) by means of a rotary drive device (10), such that the needle (3) performs a repetitive stitching movement according to at least one movement profile (B1 , B2), wherein the stitching movement comprises a forward movement (V) from the first reversal point (U1) to the second reversal point (U2), in which the needle (3) pierces the skin (2), and a backward movement (R) from the second reversal point (U2) to the first reversal point (U1), in which the needle (3) exits the skin (2), - Control (1020) of the movement of the needle (3) by means of at least one motion profile (B1, B2) comprising several successive periods, each period being characterized by at least one of the following motion profile parameters: period duration (T) of the rotary drive device (10), forward movement duration (Tv) of the forward movement (V), backward movement duration (T) of the backward movement (R), forward stroke (Hv) of the needle (3) between the first reversal point (U1) and the second reversal point (U2) in the forward movement (V), backward stroke (HR) of the needle between the first reversal point (U1) and the second reversal point (U1) in the backward movement (R), forward velocity function (Gv) of the needle (3) between the first reversal point (U1) and the second reversal point (U2) in the forward movement (V), and backward velocity function (G) of the needle (3) between the first reversal point (U1) and the second reversal point (U2) in the forward movement (V). (U1) and the second reversal point (U2) in the backward movement (R), - Guiding (1030) the needle holding device (30) along a longitudinal axis (L) between the first reversal point (U1) and the second reversal point (U2) by means of a needle guide device (40), - Control (1040) of the rotary drive device (10) by a signal-linked control device (50), such that the rotary drive device (10) is operated in a first motion profile (B1) of the at least one motion profile (B1 , B2), wherein the rotational speed of the rotary drive device (10) is variable within a period and the period duration (T) of the successive periods of the first motion profile (B1) is identical.

15. Control unit (5) for controlling a tattoo machine (1) for introducing color pigments (4) into the skin (2) of a person with a needle (3), in particular for introducing color pigments (4) into a dermis and / or an epidermis of the skin (2) of the person, wherein the tattoo machine (1) is preferably a tattoo machine (1) according to one of the preceding claims 1-11, which is configured to carry out the process steps of the method according to the preceding claim 14.

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