1. Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 518055 China
2. Guangdong‐Hong Kong‐Macao Joint Laboratory of Human‐Machine Intelligence‐Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China
3. Department of Pancreatobiliary Surgery First Affiliated Hospital of Sun Yat‐Sen University Guangzhou 510080 China
4. SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen 518055 China
5. Computer Aided Medical Procedures Technische Universität München Garching 85748 Germany
6. University of Hamburg Hamburg D‐22527 Germany