1. Department of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China
2. Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, China
3. Department of Orthopaedics, Chinese PLA General Hospital, China
4. Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China