1. Shanghai Institute for Minimally Invasive Therapy, University of Shanghai for Science and Technology, 516 Jungong Road, Shanghai 200093, China e-mail:
2. MicroPort Endovascular (Shanghai) Co., Ltd., 3399 Kangxin Road, Shanghai 201318, China
3. Department of Mechanical Engineering, University of Minnesota, 111 Church Street SE #1100, Minneapolis, MN 55455 e-mail: