1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, Heilongjiang Province, China
2. Institute of Orthopedics, Chinese PLA General Hospital, Beijing Key Laboratory of Regenerative Medicine in Orthopedics, Key Laboratory of Musculoskeletal Trauma & War Injuries PLA, Beijing, 100853, China
3. School of Mathematics, Computer Science and Engineering, City, University of London, London, EC1V 0HB, UK