[1] Tsinghua Univ, Grad Sch Shenzhen, Inst Opt Imaging & Sensing, Shenzhen Key Lab Minimal Invas Med Technol, Shenzhen 518055, Peoples R China
[2] Tsinghua Univ, Dept Biomed Engn, Beijing 100084, Peoples R China
[3] Tsinghua Berkeley Shenzhen Inst, Ctr Precis Med & Healthcare, Shenzhen 518071, Peoples R China
[4] Imperial Coll London, Inst Global Hlth Innovat, Hamlyn Ctr Robot Surg, Exhibit Rd, London SW7 2AZ, England
[5] Imperial Coll London, Dept Surg & Canc, Exhibit Rd, London SW7 2AZ, England
[6] Huazhong Univ Sci & Technol, Union Shenzhen Hosp, Nanshan Hosp, Shenzhen Peoples Hosp 6, Shenzhen 518052, Peoples R China
[7] Tsinghua Univ, Dept Phys, Beijing 100084, Peoples R China