1. Department of Mechanical Engineering The University of Hong Kong Hong Kong 999077 China
2. Multi‐Scale Medical Robotics Center Ltd. Hong Kong 999077 China
3. Department of Automation Harbin Institute of Technology Shenzhen 518000 Guangdong China
4. Department of Diagnostic Radiology The University of Hong Kong Hong Kong 999077 China
5. Department of Biomedical Engineering The Chinese University of Hong Kong Hong Kong 999077 China
6. Department of Medical Imaging China Medical University Hsinchu Hospital Hsinchu 302 Taiwan
7. Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong 999077 China
8. Department of Otorhinolaryngology Head and Neck Surgery The Chinese University of Hong Kong Hong Kong 999077 China