1. Institute of Nano Biomedicine and Engineering, Shanghai Engineering Research Centre for Intelligent Diagnosis and Treatment Instrument, Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, P. R. China
2. Department of Joint Surgery and Sports Medicine, Changzheng Hospital, Second Naval Military University, 415 Fengyang Road, Shanghai 200003, P. R. China
3. Department of Radiology, Ren Ji Hospital, School of Medicine, Shanghai Jiao Tong Univesity, 160 Pujian Road, Sahnghai 200127, P. R. China
4. School of Computer Science, Faculty of Engineering, University of Sydney, Sydney, NSW 2006, Australia
5. Murray Maxwell Biomechanics Laboratory, Kolling Institute, Royal North Shore Hospital, University of Sydney, Sydney, NSW 2065, Australia