1. School of Biomedical Engineering, the Guangdong Provincial Key Laboratory of Medical Image Processing, and the Guangdong Province Engineering Laboratory for Medical Imaging and Diagnostic Technology, Southern Medical University, Guangzhou, China
2. Guangdong Key Laboratory of Precision Equipment and Manufacturing Technology, School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China
3. Department of Computing Science, Division of Microrobotics and Control Engineering, University of Oldenburg, Oldenburg, Germany