1. Biosensor National Special Laboratory
2. Key Laboratory of Biomedical Engineering of Ministry of Education
3. College of Biomedical Engineering and Instrument Science
4. Innovation Center for Minimally Invasive Technique and Device
5. Zhejiang University
6. Key Laboratory of Laparoscopic Technology of Zhejiang Province
7. Department of General Surgery
8. Sir Run-Run Shaw Hospital
9. School of Medicine
10. College of Automation
11. Hangzhou Dianzi University
12. Hangzhou 310018
13. PR China