1. Biomanufacturing and Rapid Forming Technology Key Laboratory of Beijing, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, People’s Republic of China
2. Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, People’s Republic of China
3. Tsinghua-Berkeley Shenzhen Institute (TBSI), Tsinghua University, Shenzhen 518055, People’s Republic of China
4. East China Institute of Digital Medical Engineering, Shangrao 334000, People’s Republic of China;
5. Department of Neurosurgery, Beijing Tiantan Hospital, Capital Medical University, Beijing 100050, People’s Republic of China