1. The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong
2. Harbin Institute of Technology,Shenzhen,China,518055
3. Qilu Hospital of Shandong University, Cheeloo College of Medicine,Laboratory of Translational Gastroenterology, and Robot Engineering Laboratory for Precise Diagnosis and Therapyof GI Tumor,Department of Gastroenterology,Jinan,China