How does "DNS" work on the dark web?

As I understand it for the public web we all use, public DNS servers serve to guide browsers to IP addresses associated with domain names. But of course IPs change for anonymity’s sake on the dark web yet “domain names” stay the same.

How does my Tor browser know the correct route to get to the site that I am trying to visit each time and know that it is always accurate and won’t take me to a different site (assuming that the owner hasn’t changed on that site)? How does this work to keep site owners anonymous without exposing their information to anyone?