1. Department of Orthopaedics, Peking University Third Hospital, Beijing, People’s Republic of China
2. Beijing Key Laboratory of Spinal Disease Research, Beijing, People’s Republic of China
3. Engineering Research Center of Bone and Joint Precision Medicine, Ministry of Education, Beijing, People’s Republic of China
4. Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, People’s Republic of China
5. Beijing Zhuzheng Robot Co., Ltd., Beijing, People’s Republic of China
6. School of Biological Science and Medical Engineering, Beihang University, Beijing, People’s Republic of China