国家重点研发计划2018YFC1002700;浙江省腹腔脏器微创诊治临床医学研究01492-02;浙江省医药卫生科技计划项目2017KY434;浙江省卫生健康科技计划2022RC201;National key R & D plan2018YFC1002700;Clinical medical research on minimally invasive diagnosis and treatment of abdominal organs in Zhejiang Province01492-02;Zhejiang medical and health science and technology plan project2017KY434;Zhejiang Health Science and technology plan2022RC201