1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), China
2. Department of Biomedical Engineering, National University of Singapore, Singapore
3. Department of Surgical Oncology and General Surgery, The First Hospital of China Medical University, China
4. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), Shenyang, China