1. Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong 999077 Hong Kong
2. Suzhou Institute of Biomedical Engineering and Technology Chinese Academy of Sciences Suzhou 215163 China
3. School of Biomedical Engineering (Suzhou) University of Science and Technology of China Hefei 230026 China
4. Department of Surgery The Chinese University of Hong Kong Hong Kong 999077 Hong Kong
5. Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong Kong Hong Kong 999077 Hong Kong
6. T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong 999077 Hong Kong
7. Multi-Scale Medical Robotics Center Hong Kong Science Park Hong Kong 999077 Hong Kong