1. Beijing University of Posts and Telecommunications,Medical Robotics Laboratory, School of Automation,Beijing,China,100876
2. Medical University,Department of Neurosurgery, Xuanwu Hospital, Capital,Beijing,China,100053
3. Shenzhen Technology University,School of Health and Environmental Engineering,Shenzhen,Guangdong,China,518118
4. Key Laboratory of Biomechanics and Mechanobiology (Beihang University), Ministry of Education,Beijing Advanced Innovation Center for Biomedical Engineering,Beijing,China,100083
5. Shanghai University,School of Mechatronic Engineering and Automation,Shanghai,China
6. Peking University Third Hospital,Department of Gastroenterology,Beijing,China,100191
7. Beihang University,School of Mechanical Engineering and Automation,Beijing,China,100191
8. Chinese Institute of Electronics,Beijing,China