1. Beijing University of Posts and Tele-communications,Medical Robotics Laboratory, School of Automation,Beijing,China,100876
2. Affiliated High School of Peking University,Beijing,China,100190
3. Beihang University,School of Mechanical Engineering and Automation,Beijing,China,100083
4. Beihang University,Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry, Beijing Advanced Innovation Centre for Biomedical Engineering, School of Biological Science and Medical Engineering,Beijing,China,100083
5. Brigham and Women’s Hospital, Harvard Medical School,Boston,MA,USA,02115