1. Department of Orthopaedics, Xijing Hospital, The Fourth Military Medical University, Xi’an, Shaanxi 710032, China
2. Department of Orthopaedics, General Hospital of Central Theater Command of Chinese People’s Liberation Army, Wuhan, Hubei 430070, China
3. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110000, China