1. Institute of Medical Engineering Department of Biophysics School of Basic Medical Sciences Health Science centre Xi'an Jiaotong University Xi'an 710061 China
2. CÚRAM SFI Research Centre for Medical Devices University of Galway Galway Ireland
3. Faculty of Hepato‐Pancreato‐Biliary Surgery Chinese PLA General Hospital Fuxing Road No. 28, Haidian District Beijing 100853 China
4. Institute of Hepatobiliary Surgery of Chinese PLA Fuxing Road No. 28, Haidian District Beijing 100853 China
5. Key Laboratory of Digital Hepatobiliary Surgery PLA Fuxing Road No. 28, Haidian District Beijing 100853 China