1. School of Mechanical Engineering, Chonnam National University, 77 Yongbong-ro,
Buk-gu, Gwangju 61186, Korea
2. Korea Institute of Medical Microrobotics, 43-26, Cheomdangwagi-ro 208-beon-gil, Buk-gu, Gwangju 61011, Korea
3. Department of Biomedical Engineering, Johns Hopkins University, Baltimore, Maryland 21205, United States
4. Department of Medicine, Johns Hopkins School of Medicine, Baltimore, Maryland 21205, United States