1 Department of Surgery, Multi-scale Medical Robotics Centre, Li Ka Shing Institute of Health Sciences, The Chinese University of Hong Kong, Hong Kong SAR, China.
2 Department of Mechanical Engineering, Schaefer School of Engineering & Science, Stevens Institute of Technology, Hoboken, NJ, United States.
3 School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, NSW, Australia.
4 The Walker Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, United States.
5 Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China.