1. State Key Laboratory of Systems Medicine for Cancer, School of biomedical engineering, Shanghai Jiao Tong University, Shanghai 200030, P. R. China
2. Shanghai Key Laboratory of Gynecologic Oncology, Ren Ji Hospital, School of Medicine, Shanghai Jiao Tong University, Shanghai 200127, P. R. China
3. Department of Obstetrics and Gynecology, Ren Ji Hospital, School of Medicine, Shanghai Jiao Tong University, Shanghai 200127, P. R. China
4. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, P.R. China