1. Department of Urology, Affiliated Hospital of Qingdao University, Qingdao, China
2. Department of Anaesthesiology, Affiliated Hospital of Qingdao University, Qingdao, China
3. Department of Education and Training, Affiliated Hospital of Qingdao University, Qingdao, China
4. Shandong Weigao Surgical Robot Company, Weihai, China
5. Key Laboratory for Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China