1. CISR Lab, East China University of Science and Technology, Shanghai, China;
2. Division of Biomedical Engineering, University of Saskatchewan, Saskatoon, Canada;
3. Department of Surgery, University of Saskatchewan, Saskatoon, Canada;
4. Division of Vascular & Interventional Radiology, Department of Medical Imaging, University of Toronto, Toronto, Canada;
5. Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, Canada