1. National University of Singapore,Department of Mechanical Engineering,Singapore
2. The Chinese University of Hong Kong,Department of Surgery,Hong Kong
3. The Chinese University of Hong Kong,Department of Biomedical Engineering,Hong Kong
4. The Chinese University of Hong Kong,Technology Centre for Innovative Medicine,Department of Surgery,Hong Kong
5. Chow Yuk Ho Technology Centre of Innovative Medicine, Li Ka Shing Institute of Health Sciences and Multiscale Medical Robotics Center, The Chinese University of Hong Kong,Department of Surgery,Hong Kong