1. Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China
2. Beijing Zhuzheng Robot Co. Ltd., Beijing, China
3. School of Biological Science and Medical Engineering, Beihang University, Beijing, China
4. Peking University Third Hospital, Department of Orthopaedics, Beijing, China
5. Engineering Research Center of Bone and Joint Precision Medicine, Ministry of Education, Beijing, China
6. Beijing Key Laboratory of Spinal Disease Research, Beijing, China