1. Ligong University,School of Shenyang,Shenyang,China
2. Chinese Academy of Sciences,Shenyang Institute of Automation,Shenyang,China,111000
3. Shenyang Gongye University,Shenyang,China
4. Shenyang Jianzhu University, Currently Doing an Internship at the Shenyang Institute of Automation,Chinese Academy of Sciences
5. Shengjing Hospital of China Medical University,Shenyang,China,110022
6. State Key Laboratory of Minimally Invasive Surgical Robot,Shenyang,China,110169