1. School of Biomedical Engineering and the Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China
2. Department of Biomedical Engineering, Tsinghua University, Beijing, China
3. Ministry of Education, Key Laboratory of Brain–Machine Intelligence Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China
4. Department of Ultrasound, Affiliated Drum Tower Hospital, Nanjing University Medical School, Nanjing, China