1. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China
2. Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
3. Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
4. School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
5. Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto, ONT, M5G 1X8, Canada
6. School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
7. Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518129, China
8. Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
9. Institute of Biomedical Engineering, University of Toronto, Toronto, ON, M5S 3G9, Canada