1. Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China
2. Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China
3. Faculty of Computer Science, Dalhousie University, Halifax, NS, Canada
4. Graduate School of Biomedical Engineering, University of New South Wales, Sydney, Australia