Author Affiliations

Jingyi Hu,¹ Yuhao Li,¹ Yi Gong,¹ Jie Tang,² Changcun Pan,² Xinru Xiao,² Yigang Qiu,³ Shaolong Kuang,⁴ Yue Wu,⁵ and Baiquan Su^1,*

¹Medical Robotics Laboratory, Beijing University of Posts and Telecommunications, Beijing, China 100876

²Neurosurgery Department, Beijing Tiantan Hospital, Capital Medical University, Beijing, China 100050

³Cardiovascular Department, General Hospital of PLA, Beijing, China 100048

⁴Robotics and MicroSystems Center, Soochow University, Suzhou, China 215021

⁵International School, Beijing University of Posts and Telecommunications, Beijing, China 100876

^*Corresponding author: subaiquan@bupt.edu.cn