1. School of Electro-Mechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China
2. Guangdong Provincial Key Laboratory of Minimally Invasive Surgical Instruments and Manufacturing Technology, Guangdong University of Technology, Guangzhou 510006, China
3. State Key Laboratory for High Performance Tools, Guangdong University of Technology, Guangzhou 510006, China
4. Smart Medical Innovation Technology Center, Guangdong University of Technology, Guangzhou 510006, China