Provided are wearable devices that are compact, potable, and wearable or able to attach to a body part. The devices are configured to securely mate with body structures become one unit with the underlying body tissue to provide a relatively stable working surface. In one example, the sides of the device are constructed of a semi-rigid material with borders that conform to a body part. The semi-rigid wall can also conform (at least partially) to the working surface of a target body part and/or area to achieve a tight junction. The devices can also operate on non-uniform surfaces. Skin is not flat, thus the topography of said irregular surface can be scanned to provide a zero depth reference over the entire irregular surface. The zero depth reference enables management of surgical tools, print heads, etc. along the Z axis to provide precise operations regardless of the shape of the surface.
