1. Institute of Biomedical Engineering, College of Biomedical Engineering, Taiyuan University of Technology, Taiyuan 030024, P. R. China
2. Department of Mechanical & Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588, USA
3. Institute of Applied Mechanics, College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024, P. R. China
4. Department of Biomedical and Chemical Engineering and Sciences, Florida Institute of Technology, Melbourne, FL 32901, USA
5. Department of Interventional Radiology, The First Affiliated Hospital of Zhengzhou University, Henan, P. R. China
6. Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK