1. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong, China
2. Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen, China
3. Li Ka Shing Institute of Health Sciences, Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
4. Department of Computer Science, University of Liverpool, Liverpool, U.K.
5. Department of Mechanical and Automation Engineering, Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China