1. School of Biomedical Engineering Shanghai Jiao Tong University Shanghai People's Republic of China
2. Institute of Medical Robotics Shanghai Jiao Tong University Shanghai People's Republic of China
3. Department of Engineering University of Cambridge Cambridge United Kingdom
4. Department of Orthopedic Surgery Shanghai Jiao Tong University Affiliated Sixth People's Hospital Shanghai People's Republic of China
5. Department of Chemical and Biological Physics Weizmann Institute of Science Rehovot Israel