1. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
2. School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
3. Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
4. CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
5. Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China