1. Key Laboratory for Biomechanics and Mechanobiology of Ministry for Education, Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100191, China
2. School of Engineering Medicine, Beihang University, Beijing 100191, China
3. School of Biological Science and Medical Engineering, Beihang University, Beijing 100191, China
4. School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100043, China
5. Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
6. Faculty of Health, Education, Medicine and Social Care, Medical Technology Research Centre, Anglia Ruskin University, Bishops Hall Lane, Chelmsford, CM1 1SQ, UK