¹State Key Laboratory of Fluid Power and Mechatronic Systems & Liangzhu Laboratory, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China.

²Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China.

³School of Computer Science, Xi’an Shiyou University, Xi’an 710065, China.

⁴EFL-Tech, Suzhou Yongqinquan Intelligent Equipment Co., Ltd, Suzhou 215101, China.

⁵State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China.

⁶The Second Affiliated Hospital of Zhejiang University, Zhejiang University, Hangzhou 310027, China.