1. Electronic Engineering Department, Fudan University, 220 Handan Road Shanghai 200433, P. R. China
2. Shanghai Engineering Research Center of Assistive Devices, 220 Handan Road, Shanghai 200433, P. R. China
3. Key Laboratory of Medical Imaging Computing and Computer Assisted Intervention (MICCAI) of Shanghai, 220 Handan Road, Shanghai 200433, P. R. China