1. Hamlyn Centre for Robotic Surgery, Institute of Global Health Innovation; Imperial College London; London UK
2. Department of Surgery and Cancer; Imperial College London; London UK
3. Shenzhen Key Laboratory for Minimal Invasive Medical Technologies, Institute of Optical Imaging and Sensing; Graduate School at Shenzhen, Tsinghua University; Shenzhen China
4. Department of Physics; Tsinghua University; Beijing China
5. Center for Precision Medicine and Healthcare; Tsinghua-Berkeley Shenzhen Institute; Shenzhen China