1. Intelligent Minimally-Invasive Device Center, National Chung Hsing University 1 , Taichung 402, Taiwan
2. Department of Mechanical Engineering, National Chung-Hsing University 2 , Taichung 40227, Taiwan
3. Protrustech Co., Ltd. 3 , 3F.-1, No. 293, Sec. 3, Dongmen Rd. East District, Tainan City 701, Taiwan
4. Nanovie Co., Ltd. 4 , Taichung 41107, Taiwan
5. Graduate Institute of Biomedical Engineering, National Chung Hsing University 5 , Taichung 402, Taiwan