中文摘要：

为使医生能够根据手术机器人提供的腹腔镜视觉环境，进行符合视觉习惯的手术操作，通过深入研究微创腹腔手术机器人系统的持镜臂和器械臂运动学模型，以器械臂相对于持镜臂视觉坐标系的运动学反解为基础，建立一种基于3D动态视觉窗口引导的器械臂运动算法．最后使用Matlab软件Simulink和SimMechanics工具箱分别进行基于理论算法和机构模型的仿真实验，仿真结果显示运动算法的理论变化量和实际变化量均相等．通过多组数据说明了器械臂运动方法的正确性和可行性．

英文摘要：

To enable doctors to perform surgical operations based on their visual habits according to the laparoscopic visual environment provided by the surgical robot, the kinematic model of the laparoscope arm and the instrument arm of the Minimally Laparoscopic Surgical Robotic System （MLSRS） is studied, and a new kinematics method of instrument ann based on the 3D dynamic visual window navigation is proposed according to the inverse kinematics of the instrument arm with respect to the visual coordinate system of the laparoscope arm. At last, simulation experiments based on the theoretical algorithm and the mechanism model are carded out with Simulink and SimMechanics toolboxes in Matlab, and the simulation results show that the theoretical and actual changes of the kinematics algorithm are equal. Furthermore, multiple sets of data are presented to illustrate the correctness and the feasibility of the kinematics method of the instrument arm.