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By the application of the proposed technique, a constant distribution area ratio of the micro devices can be guaranteed in the visual window; real-time concurrency motion of the visual window of the laparoscope and the mark points of the instruments is realized, i.e. the visual window can keep tracking the movement of the marks automatically, so that the user does not have to switch between the master-slave controlling targets. The implementation of the new technique is summarized as follows: the robotic kinematics and space analytic geometry are thoroughly analyzed and modeled, and a \u201cfollowing kinematic algorithm\u201d is proposed for the visual window of the laparoscope, which tracks the mark points of the instrument arms; a \u201cforecasting kinematic algorithm\u201d is established by using a combination of the \u201cfollowing kinematic algorithm\u201d, the basic visual parameters of 3D visual field, the Verhulst Grey Model and the filtered amendment method. The proposed technique is verified by a series of simulations by using two groups of marks' motion trails with different sampling times, indicating that the technique is accurate, feasible and robust.<\/jats:p>","DOI":"10.1017\/s0263574715001137","type":"journal-article","created":{"date-parts":[[2016,2,11]],"date-time":"2016-02-11T12:41:10Z","timestamp":1455194470000},"page":"1192-1222","source":"Crossref","is-referenced-by-count":15,"title":["A new forecasting kinematic algorithm of automatic navigation for a laparoscopic minimally invasive surgical robotic system"],"prefix":"10.1017","volume":"35","author":[{"given":"Lingtao","family":"Yu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3656-3337","authenticated-orcid":false,"given":"Zhengyu","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liqiang","family":"Sun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenjie","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lan","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhijiang","family":"Du","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2016,2,11]]},"reference":[{"key":"S0263574715001137_ref26","doi-asserted-by":"crossref","unstructured":"L. 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