1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
2. College of Engineering, Ocean University of China, Qingdao 266100, China.
3. Department of Pancreatic and Biliary Surgery, The First Affiliated Hospital of Harbin Medical University, Harbin, China.
4. Key Laboratory of Hepatosplenic Surgery (Ministry of Education), the First Affiliated Hospital of Harbin Medical University, Harbin 150001, China.
5. School of Science and Technology, University of London, London EC1V 0HB, UK.
6. Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education), Harbin Institute of Technology, Harbin 150001, China.
7. School of Medicine and Health, Harbin Institute of Technology, Harbin 150001, China.