¹State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China.

²Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou 310027, China.

³ Medical School of Zhejiang University, Hangzhou 310027, China.

⁴College of Computer Science and Technology, Zhejiang University, Hangzhou 310027, China.

⁵Stomatology Hospital, School of Stomatology, Zhejiang University School of Medicine, Zhejiang Provincial Clinical Research Center for Oral Diseases, Key Laboratory of Oral Biomedical Research of Zhejiang Province, Cancer Center of Zhejiang University, Engineering Research Center of Oral Biomaterials and Devices of Zhejiang Province, Hangzhou 310000, China.