1. Shaanxi Joint Laboratory of Artificial Intelligence Shaanxi University of Science and Technology Xi'an China
2. The School of Electronic Information and Artificial Intelligence Shaanxi University of Science and Technology Xi'an China
3. The Laboratory of Hepatobiliary Surgery First Affiliated Hospital' and 'National Engineering Laboratory of Big Data Algorithm and Analysis Technology Research'(Xi'an Jiaotong University) Xi'an China
4. The School of Electronic and Information Engineering Lanzhou Jiaotong University Lanzhou China
5. The Department of Electronic and Electrical Engineering Brunel University London UK