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The problem of the consistency principle between the doctor's operations under the visual window's feedback and the master\u2013slave operations of the surgical robot is solved. The kinematics models of the surgical robotic arms are established, and the new kinematics methods based on the DVW of the laparoscope and instrument arms are proposed according to their inverse kinematics with respect to the visual coordinate system. Finally, the proposed kinematics method is verified by simulation experiments based on the theoretical algorithm and the mechanism model; the multiple sets of the simulation data are presented to illustrate the correctness and feasibility of the new method in this research.<\/jats:p>","DOI":"10.1017\/s026357471300088x","type":"journal-article","created":{"date-parts":[[2013,9,4]],"date-time":"2013-09-04T04:19:49Z","timestamp":1378268389000},"page":"571-589","source":"Crossref","is-referenced-by-count":10,"title":["A new kinematics method based on a dynamic visual window for a surgical robot"],"prefix":"10.1017","volume":"32","author":[{"given":"Lingtao","family":"Yu","sequence":"first","affiliation":[]},{"given":"Zhengyu","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Peng","family":"Yu","sequence":"additional","affiliation":[]},{"given":"Tao","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Huajian","family":"Song","sequence":"additional","affiliation":[]},{"given":"Zhijiang","family":"Du","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2013,9,4]]},"reference":[{"key":"S026357471300088X_ref8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909101795"},{"key":"S026357471300088X_ref10","unstructured":"T. Hornyak , 2010. Paging Raven II: the open-source surgery robot. CNET [internet]. Available at: http:\/\/news.cnet.com\/8301-17938_105-573624501\/paging-raven-ii-the-open-source-surgery-robot\/."},{"key":"S026357471300088X_ref17","doi-asserted-by":"publisher","DOI":"10.1088\/0031-9155\/57\/10\/3123"},{"key":"S026357471300088X_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980216"},{"key":"S026357471300088X_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152361"},{"key":"S026357471300088X_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.gyobfe.2009.03.023"},{"key":"S026357471300088X_ref6","doi-asserted-by":"publisher","DOI":"10.1108\/01439910810876427"},{"key":"S026357471300088X_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2011.11.003"},{"key":"S026357471300088X_ref11","volume-title":"20th International Conference of Society for Medical Innovation and Technology","author":"van den Bedema","year":"2008"},{"key":"S026357471300088X_ref9","first-page":"159","volume-title":"Surgical Robotics: Systems Applications and Visions","author":"Jacob","year":"2011"},{"key":"S026357471300088X_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/S0090-4295(01)01423-6"},{"key":"S026357471300088X_ref15","first-page":"1353","volume-title":"2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems, San Francisco","author":"Tully","year":"2011"},{"key":"S026357471300088X_ref14","first-page":"746","volume-title":"Proceedings of the 2010 3rd IEEE RAS and EMBS","author":"Staub","year":"2010"},{"key":"S026357471300088X_ref5","doi-asserted-by":"crossref","first-page":"598","DOI":"10.1007\/s00464-011-1936-2","article-title":"Economic evaluation of da Vinci-assisted robotic surgery: A systematic review","volume":"26","author":"Giuseppe","year":"2012","journal-title":"Surg. 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