1. Beijing Key Laboratory of Traditional Chinese Medicine Basic Research on Prevention and Treatment for Major Diseases, Experimental Research Center, China Academy of Chinese Medical Sciences, Beijing 100700, China
2. Robot intelligence laboratory, Experimental Research Center, China Academy of Chinese Medical Sciences, Dongcheng District, Beijing 100700, China
3. Department of Surgery, Yantai Affiliated Hospital of Binzhou Medical University, Yantai 264100, China
4. Institute of Chinese Materia Medica, China Academy of Chinese Medical Sciences, Beijing 100700, China
5. Experimental Research Center, China Academy of Chinese Medical Sciences, Dongcheng District, Beijing 100700, China