* Corresponding authors

^a School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
E-mail: wanghuaping@bit.edu.cn, shuailong.zhang@bit.edu.cn

^b Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China

^c Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China

^d School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China

^e Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto, ONT, Canada

^f School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China

^g Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518129, China

^h Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada

ⁱ Institute of Biomedical Engineering, University of Toronto, Toronto, ON, Canada