Published on in Vol 7 , No 8 (2019) :August
Preprints (earlier versions) of this paper are
available at
https://preprints.jmir.org/preprint/11966, first published
.

1 Center for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advance Technology, Chinese Academy of Sciences, Shenzhen, China
2 Graduate University, Chinese Academy of Sciences, Beijing, China
*these authors contributed equally