¹ Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China.

² University of Chinese Academy of Sciences, Beijing, China.

³ School of Physics and Electronic Engineering, Chongqing Normal University, Chongqing, China.

⁴ The Academy for Engineering and Technology, Fudan University, Shanghai, China.

⁵ The Research Centre for Opto-Electronic Engineering and Technology, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China.

⁶ The Key Laboratory of Biomedical Imaging Science and System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China.

⁷ Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China.