1. Bioinspired Engineering and Biomechanics Center (BEBC) The Key Laboratory of Biomedical Information Engineering of Ministry of Education Xi'an Jiaotong University Xi'an 710049 China
2. School of Material Science and Chemical Engineering Xi'an Technological University Xi'an 710021 China
3. Department of Hepatobiliary Surgery and Institute of Advanced Surgical Technology and Engineering The First Affiliated Hospital of Xi'an Jiaotong University Xi'an 710061 China
4. NSF Science and Technology Center for Engineering MechanoBiology Washington University in St. Louis St. Louis MO 63130 USA