A multi-degree of freedom operation controller
By using a multi-degree-of-freedom operating controller with a non-coplanar orthogonal layout and direct physical input, the delay and error problems introduced by virtual simulation mapping are solved, achieving high-precision, safe and convenient operation control, which is suitable for laparoscopic surgery and interventional treatment scenarios.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING EASY SURG MEDICAL TECHNOLOGY CO LTD
- Filing Date
- 2025-04-22
- Publication Date
- 2026-07-21
AI Technical Summary
Existing operation and control systems rely on virtual simulation mapping, which leads to delays and errors. The systems are highly complex, lack sufficient security, are complicated for users, and are difficult to stabilize quickly under abnormal conditions.
The multi-degree-of-freedom operating controller adopts a non-coplanar orthogonal layout, integrating a rotary encoder, linear displacement sensor and electromagnetic brake. The operating mode can be switched through function control buttons. It has a built-in dynamic proportional mapping algorithm and a three-level safety braking mechanism, with direct physical input and integrated feedback.
It improves operational accuracy and safety, reduces latency and errors, simplifies user operation, and ensures equipment stability under abnormal conditions.
Smart Images
Figure CN224523244U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of minimally invasive surgical robot control technology, specifically relating to a multi-degree-of-freedom operation controller, which is suitable for scenarios such as laparoscopic surgery and interventional therapy. Background Technology
[0002] With the rapid development of automation, robotics, and remote surgery technologies, higher demands are being placed on the precision, real-time performance, and safety of operational control systems. Traditional control systems largely rely on human motion capture and virtual simulation mapping, converting human movements into operational commands for robotic arms or instruments through data interaction between multiple modules. This multi-layered data processing and virtual-real conversion not only increases system complexity but also easily introduces delays and errors, affecting real-time response and operational accuracy. Furthermore, existing systems often rely on a single braking method for safety protection, making it difficult to quickly stabilize equipment in abnormal or power outage situations.
[0003] Application CN119472620A discloses a time-delay variable gain robot virtual-real interaction telecontrol system and method, including: acquiring wrist, finger, and foot movement data; mapping the acquired movement data to obtain motion commands for the slave robot, selecting and recording motion commands for a certain time period according to different foot pressing states to obtain a corresponding motion command sequence; receiving the motion command sequence, adjusting the mapping ratio of the motion commands according to the distance between the slave robot virtual simulation model and the obstacles in the virtual simulation environment, and the time delay generated by the motion commands being sent from the master controller to the slave controller for processing and feedback, to obtain operation commands; driving the slave robot to execute the corresponding actions according to the operation commands, and providing action status feedback.
[0004] Compared to multi-degree-of-freedom manipulators that directly employ physical sensors and integrated control feedback, this "time-delay variable gain robot virtual-real interaction telecontrol system" has the following drawbacks:
[0005] Relying on virtual-real mapping increases latency and uncertainty: The system needs to transform and map the motion data collected from the human body through multiple levels before generating robot instructions. The mapping process may introduce computational latency and errors, affecting real-time performance and accuracy.
[0006] In complex virtual simulation environments, calculations such as obstacle detection and path planning may cause delays in command feedback, reducing the system's response speed.
[0007] Human motion acquisition modules are limited by the accuracy of human movements: modules for wrist, finger, and foot movements are susceptible to interference from noise, vibration, and other factors due to sensor precision and user operating habits, resulting in inaccurate motion data. Control increment data acquired by remote control sticks and pedals may exhibit greater nonlinearity and uncertainty compared to direct physical measurements.
[0008] Complex data processing and communication links: Data transmission between multiple modules (wrist, finger, and foot acquisition modules) requires centralized processing via a data bus and master controller. This can easily create bottlenecks in communication and processing, increasing the overall complexity of the system. Multiple layers of data processing may require more correction and compensation algorithms, thus reducing system stability.
[0009] Uncertainties in safety assessment and command adjustment: The operational safety assessment module needs to comprehensively consider the virtual simulation model, environmental obstacle distance, and communication latency to adjust the motion command mapping ratio. This dynamic adjustment mechanism is relatively complex and may not respond as quickly as directly integrated physical safety mechanisms in emergency situations. If the mapping ratio adjustment algorithm is not robust enough, it may cause a significant deviation between the robot's actual movements and expectations, affecting overall safety.
[0010] The user operation and system complexity are relatively high: the virtual-real interaction system requires the operator to manage data input from multiple acquisition modules (wrist, fingers, and feet) simultaneously, which poses a high learning and adaptation cost for the operator. The system involves multiple feedbacks from virtual simulation and actual control, which may make the overall interface complex and reduce the intuitiveness and ease of operation of the user experience.
[0011] In summary, there is an urgent need for an operating controller that integrates a non-coplanar shaft system design, a highly reliable braking module, and multi-level safety protection to overcome the current technological bottlenecks. Summary of the Invention
[0012] To achieve the above objectives, this utility model provides a multi-degree-of-freedom operation controller, comprising: an operation table with holes, a U-shaped arm disposed above the operation table, and a telescopic arm connected to the U-shaped arm.
[0013] The control panel can be a desktop platform with related components integrated underneath. The control panel includes a first rotating axis, a main control unit, and a first rotator. The first rotator is located outside the first rotating axis, and the top of the first rotating axis is connected to a U-shaped arm.
[0014] The U-shaped arm includes a second rotating shaft and a second rotator connected to the second rotating shaft; the axis of the second rotating shaft is perpendicular to the first rotating shaft, and the second rotating shaft is connected to the telescopic arm and can drive the telescopic arm to rotate around the second rotating shaft;
[0015] The telescopic arm includes a proximal end, a distal end, and a telescopic shaft for connecting the proximal end and the distal end. The distal end includes a third rotation shaft.
[0016] The first, second, and third rotating axes form a non-coplanar orthogonal layout and integrate an overload protection circuit.
[0017] Furthermore, the first rotator includes a first bearing disposed outside the first rotating shaft, a first electromagnetic brake disposed outside the first bearing, a synchronous pulley disposed below the first electromagnetic brake, and a first rotary encoder connected to the synchronous pulley; the synchronous pulley is coaxially arranged with the first rotating shaft and is used to detect changes in the angle of the first rotating shaft by the first rotary encoder.
[0018] Furthermore, the second rotator is coaxially connected to the second rotating shaft. The second rotator includes a second bearing disposed at both ends of the second rotating shaft, a gear set connected to the second bearing, a second rotary encoder connected to the gear set, and a second electromagnetic brake disposed on the outside of the second rotating shaft.
[0019] Furthermore, the third rotator is disposed on the distal end and coaxially connected to the third rotating shaft. The third rotator includes a third bearing connected to the third rotating shaft, a third damper disposed outside the third bearing, and a third rotary encoder disposed on the third rotating shaft.
[0020] Furthermore, the near-body end includes a linear displacement sensor, a linear guide rail disposed above the linear displacement sensor, and a damper disposed at the end of the linear guide rail;
[0021] The distal end also includes a function control button, which is located on one side of the third rotation axis. The function control button integrates a dual-mode pressure sensing module and anti-slip texture.
[0022] Furthermore, the function control buttons include an activation button and a clutch button:
[0023] When the activation button is pressed, the controller moves data and maps it to the robotic arm.
[0024] When the clutch button is pressed, the first and second electromagnetic brakes provide resistance, and the controller swing position is fixed.
[0025] When the clutch button is pressed again, the first and second electromagnetic brakes are released, the controller can swing freely and data mapping is paused.
[0026] Furthermore, the main control unit has a built-in dynamic proportional mapping algorithm for motion control, which supports switching preset proportional modes via function control buttons. The proportional modes include fine operation (1:0.2), standard mode, large-range movement, and user-defined mode.
[0027] Furthermore, the scaling mode switching method is as follows:
[0028] Select by briefly pressing the function control button;
[0029] Confirm by long-pressing the function control button;
[0030] The main control unit dynamically adjusts the motion sensitivity of the robotic arm's end effector according to the current proportional mode.
[0031] Furthermore, the controller has a three-level safety braking mechanism, including:
[0032] Primary dynamic compensation: Correcting the robot arm's posture through reverse compensation using a linear motor;
[0033] Secondary electromagnetic braking: If dynamic compensation is insufficient, the first and second electromagnetic brakes are activated.
[0034] Level 3 Emergency Maintenance: In the event of a power outage, the controller switches to supercapacitor power to keep the robotic arm stationary.
[0035] By changing the braking force of the electromagnetic brake, this controller can simulate the damping resistance of actual instruments during surgical operations, allowing the operator to obtain tactile feedback similar to that during real surgical operations, thereby improving the realism and stability of the operation.
[0036] During use, the operator activates the tactile navigation mode by lightly touching the function control button, receiving vibration guidance to adjust the operation direction. Continuing to press the function control button to the tactile lock stage unlocks the controller's multi-degree-of-freedom movement, allowing real-time sensing of tissue contact force and dynamic adjustment of operational sensitivity. When the activation button is pressed, the controller's movement status is uploaded; releasing it stops the upload. When the clutch button is pressed, the brake engages, fixing the controller's swing position; pressing the clutch button again releases the brake, allowing the controller to swing freely. If abnormal displacement or overload contact is detected during the procedure, the system immediately triggers a multi-stage braking mechanism to freeze instrument movement. After completing critical steps, the operator can release the controller; the damping system automatically maintains the instrument's end-effector's stable position, facilitating switching operating modes or team collaboration.
[0037] This utility model has the following advantages:
[0038] The operating feel is highly consistent with actual surgery: The operation of the controller is very similar to the operation of instruments in actual surgery, which allows doctors to have a more natural and intuitive control experience, reduce the learning cost, and improve the accuracy and safety of operation.
[0039] Direct integration of high-precision sensors: This controller adopts a non-coplanar orthogonal layout and is equipped with components such as rotary encoders, linear displacement sensors, dampers, and electromagnetic brakes. It can accurately detect the angles and displacements of each degree of freedom in real time, reducing data processing delays and information errors.
[0040] Direct mapping of physical control: Since the control signals are directly acquired through physical sensors, rather than relying on human motion capture and virtual mapping, they have lower latency and higher response accuracy in data acquisition and command transmission.
[0041] Dynamic proportional mapping algorithm: The built-in mapping algorithm of this controller supports fine operation, standard mode, large-range movement and user-defined mode. It can flexibly adjust the motion sensitivity according to actual operation needs and realize a more intuitive and flexible control experience.
[0042] Easy mode switching: Modes can be switched by short / long press of a single function button, without the need for complicated gestures or multi-module collaborative control, improving the convenience of user operation and the level of system intelligence.
[0043] Three-level safety braking: In terms of safety protection, this design adopts a three-level braking mechanism of dynamic compensation, electromagnetic braking and emergency maintenance, which can respond quickly in case of abnormality or power failure, ensure equipment stability and avoid loss of control due to unexpected situations.
[0044] Integrated overload protection circuit: The integrated overload protection circuit in the design effectively prevents system abnormalities caused by sudden load changes, improving overall operational safety.
[0045] Compact and highly integrated: This controller integrates multiple key functions into a single design, reducing communication delays and coordination errors between external modules, making the overall system more stable and reliable.
[0046] Reduce latency and uncertainty in virtual-real interaction: Compared with systems that rely on human motion acquisition modules and virtual simulation feedback, this design greatly reduces the uncertainty and operational complexity caused by the virtual environment and latency compensation through direct physical input and integrated feedback. Attached Figure Description
[0047] Figure 1 This is a schematic diagram of the structure of this utility model;
[0048] Figure 2 This is a schematic diagram of the distal end structure;
[0049] Figure 3 This is a schematic diagram of the proximal end structure;
[0050] Figure 4 This is a schematic diagram of a U-shaped arm structure;
[0051] Figure 5 This is a schematic diagram of the control panel structure.
[0052] Figure label:
[0053] 100. Control panel; 110. First rotating shaft; 120. Main control unit; 130. First rotator; 131. First bearing; 132. First electromagnetic brake; 133. Synchronous pulley; 134. First rotary encoder; 200. U-shaped arm; 210. Second rotating shaft; 220. Second rotator; 221. Gear set; 222. Second rotary encoder; 223. Second bearing; 224. Second electromagnetic brake; 300. Telescopic arm; 310. Proximal end; 311. Linear displacement sensor; 312. Linear guide rail; 313. Damper; 320. Distal end; 321. Function control button; 322. Third rotating shaft; 323. Third rotator; 323a. Third bearing; 323b. Third rotary encoder; 323c. Third damper; 330. Telescopic shaft. Detailed Implementation
[0054] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Example 1
[0055] A multi-degree-of-freedom operating controller includes an operating table 100, a U-shaped arm 200, and a telescopic arm 300.
[0056] The control panel 100 is equipped with a main control unit 120, a first rotating shaft 110, and a first rotator 130. The first rotator 130 includes a first bearing 131, a first electromagnetic brake 132, a synchronous pulley 133, and a first rotary encoder 134.
[0057] The U-shaped arm 200 includes a second rotating shaft 210 and a second rotator 220. The second rotator 220 includes a second bearing 223, a gear set 221, a second rotary encoder 222, and a second electromagnetic brake 224.
[0058] The telescopic boom 300 includes a distal end 320 and a proximal end 310. The distal end 320 includes a third rotating shaft 322 and a third rotator 323. The third rotator 323 includes a third bearing 323a, a third damper 323c, and a third rotary encoder 323b. The proximal end 310 includes a linear displacement sensor 311, a linear guide rail 312, and a damper 313.
[0059] like Figures 1 to 5 As shown, perform mechanical structure assembly:
[0060] Step 1: Vertically install the first rotating shaft 110 in the center hole of the operating table 100, and use a high-precision angular contact bearing (first bearing 131) for support to ensure axial runout ≤0.01mm.
[0061] Step 2: Install the first electromagnetic brake 132 on the outside of the shaft and fix it with a flange. Adjust the gap between the brake disc and the shaft to 0.1±0.02mm.
[0062] Step 3: Install the timing pulley 133 on the shaft side, and adjust the timing belt tension to 30N±5N using a spring tensioner.
[0063] Step 4: Install the first rotary encoder 134 (such as Heidenhain RON786C) on the shaft side, with the coaxiality error between the encoder code disk and the shaft ≤ 0.005mm.
[0064] Step 5: Connect the proximal end of the U-shaped arm 200 to the first rotating shaft 110 via a keyway and apply a preload torque of 5 N·m.
[0065] Step 6: Install the second rotating shaft 210 at the far end of the U-shaped arm 200, supported by a bearing with a bearing preload of 0.03mm.
[0066] Step 7: Assemble gear set 221 (reduction ratio 5:1), the large gear is keyed to the second rotating shaft 210, and the small gear is directly connected to the second rotary encoder 222 (such as Tamagawa TS5700N812), with tooth backlash ≤0.05mm.
[0067] Step 8: Install a second electromagnetic brake 224 (such as FESTO EBM-63) on the outside of the shaft, with the contact area between the brake pad and the brake disc ≥80%.
[0068] Step 9: Install the linear guide rail 312 onto the near end 310 of the telescopic arm 300. The parallelism error of the guide rail is ≤0.02mm / m, and the preload level of the slider is Z3.
[0069] Step 10: Install damper 313 (damping coefficient adjustable range 0.5~5N·s / mm) at the end of the guide rail and fix it to the guide rail end cover with bolts.
[0070] Step 11: The telescopic shaft 330 is made of stainless steel, and its two ends are connected to the near end 310 and the far end 320 respectively through universal joints.
[0071] Step 12: Install the third rotating shaft 322 at the distal end 320, using a deep groove ball bearing (third bearing 323a), and integrate a rotating damper (third damper 323c) on the outside (damping torque adjustable from 0.1 to 1 N·m).
[0072] Step 13: The third rotary encoder 323b (such as Renishaw RESM30) is connected to the rotary shaft with a radial deviation compensation of ±0.1mm.
[0073] Electrical system integration:
[0074] Step 14: Connect each encoder signal line (SSI interface) to the FPGA acquisition module (such as Xilinx Zynq-7000) of the main control unit 120, and set the sampling rate to 10kHz.
[0075] Step 15: The electromagnetic brake is controlled by a 24V DC relay with a response time of ≤2ms. The overload protection circuit threshold is set to 150% of the rated current.
[0076] Step 16: Function control button 321 integrates a dual-mode pressure sensor (such as Tekscan FlexiForce A201), and the pressure signal is converted into a 16-bit digital value by an ADC (ADS131M08).
[0077] Step 17: Program the dynamic scaling algorithm to the main control unit 120, with four preset mode parameters:
[0078] Fine-grained mode: PID parameters Kp=0.8, Ki=0.05, Kd=0.1
[0079] Standard mode: Kp=1.2, Ki=0.1, Kd=0.2
[0080] Large-range mode: Kp=2.0, Ki=0.2, Kd=0.3
[0081] Custom mode: Users can adjust parameters via a host computer.
[0082] Step 18: Configure three-level safety braking logic:
[0083] Primary braking: Calculation of reverse thrust of linear motor (such as ETEL TMB+): where K=500N / mm, C=20N·s / mm;
[0084] Secondary braking: The electromagnetic brake is triggered when the acceleration is >5g or the displacement deviation is >3mm;
[0085] Level 3 braking: Supercapacitor bank (such as Maxwell 48V module) with a capacity of ≥100F and a duration of ≥30s.
[0086] Functional verification and calibration:
[0087] Step 19: Use a laser tracker (such as Leica AT960) to establish a reference coordinate system, drive each axis to the 0°, ±90° and 180° positions in sequence, record the encoder reading and the deviation of the measured angle, and write the compensation parameters into the main control unit 120.
[0088] Step 20: Straightness calibration of telescopic arm 300: Move the distal end 320 along the guide rail, use a laser interferometer (such as Keysight 5530) to detect displacement error, and correct the linearity curve of linear displacement sensor 311.
[0089] Step 21: Step Response Test: In standard mode, perform a 5mm step displacement at the end of the robotic arm and monitor the response time (≤50ms) and overshoot (≤5%) with an oscilloscope (such as Keysight DSOX1204A).
[0090] Step 22: Sine tracking test: Input a sinusoidal motion command with a frequency of 0.5~10Hz, and calculate the amplitude attenuation (-3dB bandwidth must be ≥8Hz) and phase lag (≤15°@5Hz).
[0091] Step 23: Simulate overload conditions: Apply a 20N radial load using a force sensor (such as ATI Mini40) to verify that the electromagnetic brake starts within 5ms and maintains a position deviation of <0.1mm.
[0092] Step 24: Power interruption test: After disconnecting the main power supply, use an oscilloscope to monitor the output voltage of the supercapacitor and confirm that the duration is ≥30s and the displacement of the robotic arm is <0.5mm.
[0093] Example of operating procedure (laparoscopic surgery scenario):
[0094] Step 25: The system starts up, connects the controller to the main control panel of the surgical robot, and completes the installation process. The automatic calibration program is executed, and the robotic arm end effector completes the nine-point spatial calibration (approximately 30 seconds).
[0095] Step 26: Mode Selection
[0096] Press function button 321 three times briefly: switch to "Fine Mode" (LED indicator light turns blue).
[0097] Press and hold for 2 seconds to confirm: The main control unit 120 loads the corresponding PID parameters.
[0098] Step 27: Press the activation button: The controller's posture data is mapped to the robotic arm in real time, allowing the surgeon to perform tissue separation operations. If a blood vessel is encountered, the view needs to be temporarily fixed: Press the clutch button; the electromagnetic brakes lock each axis, keeping the robotic arm stationary. After adjustment, press the clutch button again: Motion mapping is restored, and the operation continues.
[0099] Step 28: Emergency braking test. A sudden displacement of 5cm is artificially created, triggering the system to activate level three braking.
[0100] The linear motor outputs reverse thrust within 3ms;
[0101] The electromagnetic brake fully engages in 8ms;
[0102] The supercapacitor maintains the braking state until the alarm is cleared.
[0103] Key process requirements:
[0104] Coaxiality control: After assembly, each rotary axis must meet the requirement of radial runout ≤0.02mm (detected using a coordinate measuring machine).
[0105] Damping adjustment: The damper 313 needs to be linearly adjustable in the range of 0.5~5 N·s / mm (by applying a step force test with a special tool).
[0106] Aseptic compatibility: The outer cover material must be certified for biocompatibility by ISO 10993 and withstand more than 100 cycles of ethylene oxide sterilization.
[0107] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.
Claims
1. A multi-degree-of-freedom operation controller, comprising an operating table (100) with holes, a U-shaped arm (200) disposed above the operating table (100), and a telescopic arm (300) connected to the U-shaped arm (200), characterized in that: The operating console (100) includes a first rotating shaft (110), a main control unit (120), and a first rotator (130); the first rotator (130) is disposed on the outside of the first rotating shaft (110), and the top end of the first rotating shaft (110) is connected to the U-shaped arm (200); The U-shaped arm (200) includes a second rotating shaft (210) and a second rotator connected to the second rotating shaft (210); the axis of the second rotating shaft (210) is perpendicular to the first rotating shaft (110), and the second rotating shaft (210) is connected to the telescopic arm (300) and can drive the telescopic arm (300) to rotate around the second rotating shaft (210); The telescopic arm (300) includes a proximal end (310), a distal end (320), and a telescopic shaft (330) for connecting the proximal end (310) and the distal end (320). The distal end (320) includes a third rotating shaft (322) and a third rotator (323) coaxially connected to the third rotating shaft (322). The first rotating shaft (110), the second rotating shaft (210) and the third rotating shaft (322) form a non-coplanar orthogonal layout and integrate an overload protection circuit.
2. The multi-degree-of-freedom operation controller according to claim 1, characterized in that: The first rotator (130) includes a first bearing (131) disposed outside the first rotating shaft (110), a first electromagnetic brake (132) disposed outside the first bearing (131), a synchronous pulley (133) disposed below the first electromagnetic brake (132), and a first rotary encoder (134) connected to the synchronous pulley (133); the synchronous pulley (133) is coaxially arranged with the first rotating shaft (110) and is used to detect the angle change of the first rotating shaft (110) by the first rotary encoder (134).
3. A multi-degree-of-freedom operation controller according to claim 2, characterized in that: The second rotator (220) is coaxially connected to the second rotating shaft (210). The second rotator (220) includes a second bearing (223) disposed at both ends of the second rotating shaft (210), a gear set (221) connected to the second bearing (223), a second rotary encoder (222) connected to the gear set (221), and a second electromagnetic brake (224) disposed on the outside of the second rotating shaft (210).
4. A multi-degree-of-freedom operation controller according to claim 1, characterized in that: The third rotator (323) is disposed on the distal end (320) and coaxially connected to the third rotating shaft (322). The third rotator (323) includes a third bearing (323a) connected to the third rotating shaft (322), a third damper (323c) disposed outside the third bearing (323a), and a third rotary encoder (323b) disposed on the third rotating shaft (322).
5. A multi-degree-of-freedom operation controller according to claim 3, characterized in that: The proximal end (310) includes a linear displacement sensor (311), a linear guide rail (312) disposed above the linear displacement sensor (311), and a damper (313) disposed at the end of the linear guide rail (312). The distal end (320) also includes a function control button (321), which is located on one side of the third rotating axis (322). The function control button (321) integrates a dual-mode pressure sensing module and anti-slip texture.
6. A multi-degree of freedom operation controller according to claim 5, wherein The function control button (321) includes an activation button and a clutch button: When the activation button is pressed, the controller moves data and maps it to the robotic arm; When the clutch button is pressed, the first electromagnetic brake (132) and the second electromagnetic brake (224) provide resistance, and the controller swing position is fixed; When the clutch button is clicked again, the first electromagnetic brake (132) and the second electromagnetic brake (224) are released, the controller can swing freely and the data mapping is paused.
7. A multi-degree-of-freedom operation controller according to claim 5, characterized in that: The main control unit (120) has a built-in dynamic proportional mapping algorithm for motion control and supports switching preset proportional modes through the function control button (321). The proportional modes include fine operation, standard mode, large-range movement and user-defined mode.
8. A multi-degree-of-freedom operation controller according to claim 7, characterized in that: The proportional mode switching method is as follows: selection is performed by short-pressing the function control button (321); confirmation is performed by long-pressing the function control button (321); the main control unit (120) dynamically adjusts the motion sensitivity of the robotic arm end based on the current proportional mode.
9. A multi-degree-of-freedom operation controller according to claim 3, characterized in that: The controller has a three-level safety braking mechanism, including: Primary dynamic compensation: Correcting the robot arm's posture through reverse compensation using a linear motor; Secondary electromagnetic braking: If dynamic compensation is insufficient, the first electromagnetic brake (132) and the second electromagnetic brake (224) are activated. Level 3 Emergency Maintenance: In the event of a power outage, the controller switches to supercapacitor power to keep the robotic arm stationary.