1. College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China
2. Jiangsu Yuyue Medical Equipment and Supply Co., Ltd, Danyang, Jiangsu 212300, China
3. School of Electrical and Automation Engineering, and Jiangsu Key Laboratory of 3D Printing Equipment and Manufacturing, Nanjing Normal University, Nanjing 210023, China
4. Nanjing Drum Tower Hospital, The Affiliated Hospital of Nanjing University Medical School, Nanjing 210008, China
5. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
6. School of Mechanical Engineering, and Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, Southeast University, Nanjing 211189, China