1. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong999077, People’s Republic of China
2. Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing211100, People’s Republic of China
3. Department of Surgery, The Chinese University of Hong Kong, Hong Kong999077, People’s Republic of China
4. Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong999077, People’s Republic of China
5. T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong999077, People’s Republic of China
6. Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong999077, People’s Republic of China