1. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
2. Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou, China.
3. Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China.
4. CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China.
5. Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China