The present disclosure relates to a method for transcutaneous delivery of a substance into a subcutaneous region. The method comprises obtaining (S10) a digital representation of a set of a person's current bodily features. The method further comprises determining (S20) a substance dispensing plan based on a comparison between the digital representation of the set of the person's current bodily features and a set of desired bodily features.The present disclosure also relates to corresponding computer programs, control systems and robotic systems.
