1. School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China
2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3. Department of Biochemistry and Molecular Biology, China Medical University, Shenyang, China
4. Department of General Surgery, Shengjing Hospital of China Medical University, Shenyang, China