1. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Shatin, NT, Hong Kong, China.
2. Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, NT, Hong Kong, China.
3. Department of Biomedical Engineering, CUHK, Shatin, NT, Hong Kong, China.
4. Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland.
5. Department of Imaging and Interventional Radiology, CUHK, Shatin, NT, Hong Kong, China.
6. CUHK T Stone Robotics Institute, CUHK, Shatin, NT, Hong Kong, China.