1. Hebei University,School of Quality and Technical Supervision,Baoding,China,071002
2. Hebei University, Machine Vision Technology Innovation Center of Hebei Province,College of Electronic and Information Engineering,Baoding,China,071002
3. Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Multimodal Artificial Intelligence Systems,Beijing,China,100190
4. The Fifth Medical Center, Chinese PLA General Hospital,Department of Interventional Ultrasound,Beijing,China,100854